Joint including a lift.

Abstract

Articulated device (1), configured to be fixed to an assembly (100), comprising: A first member (2) and a second member (3), A first articulation (4) allowing rotation between the first member (2) and the second member (3), An actuator (5) for rotating the second member (3) relative to the first member (2), A lifter (6) opposing said rotation of the second member (3) in a first direction of rotation, said lifter (6) being configured not to oppose said rotation of the second member (3) in a second direction of rotation, one of the first or second member (3) being integral with the lifter (6), and the other of the first or second member (3) comprising a rocker (12) capable of actuating the lifter (6), the first articulation (4) being connected to said rocker (12) in a zone separate from its first end (121) or its second end (122). Abstract Figure: Figure 1

Description

Title of the invention: Joint comprising a support. Technical field

[0001] The present disclosure relates to the field of mechanical or mechatronic joints that can be applied to robotics, or prosthetic joints intended to compensate for the handicap of amputees by ensuring the function(s) of the amputated limb. More particularly, the present disclosure relates to the field of active prostheses, for example motorized foot and / or ankle prostheses. Prior art

[0002] The function of prostheses or joints is to provide, to an assembly such as a robot or a patient, both a lifting force and a propulsion force, which consists of dynamically setting in motion the body of a patient or a robotic assembly to enable it, for example, to walk.

[0003] Indeed, taking into account the height of amputation, a prosthesis or a foot and / or ankle joint must ensure the function of support (allowing the patient or robot to be kept in a standing position, the latter tending to "collapse" under its weight) and propulsion (allowing the whole to move forward) in different phases of walking, for example walking on the flat, on a slope uphill or downhill, on stairs uphill or downhill. In addition, prostheses, in particular active prostheses, must also integrate a controller, an energy source, for example a battery, in order to replace the control function normally provided by the brain and to take charge of the energy supply normally provided by the metabolism. Such devices related to an active joint are also necessary in the context of an application in robotics.

[0004] Indeed, by means of an additional energy supply compared to passive prostheses, active prostheses allow a more fluid gait while attempting to reduce, compared to passive prostheses, the energy to be provided by the metabolism.

[0005] Numerous solutions have been proposed by the prior art to meet the needs of robotics and more particularly of people affected by an amputation. Each solution attempts to meet at least in part the requirements of user comfort, dynamism and performance, hearing comfort, compactness, aesthetics, autonomy, adaptability to the physiological characteristics of patients or even fatigue resistance.

[0006] In particular, in an attempt to meet performance requirements, it is known to integrate a deformable elastic element into the prosthetic ankle joint. tically, for example a spring, in series with an actuator, which allows to reduce the peak power of the motor, and therefore its size. However, the elastically deformable element also has a limited allocated volume, and consequently, can only store and release a limited amount of energy, in particular when it comes to fatigue resistance. In addition, while it is true that the peak power can be reduced thanks to the presence of this spring, the motor must resist the lift load. This implies that the motor must still work during this lift phase and there is then a need to oversize it, making its size incompatible with a product with a reduced volume and fine aesthetics.

[0007] In summary, existing prior art solutions fail to simultaneously meet the stated needs. Power density requirements are at the limits of what mechatronic technology can offer, and meeting the needs simultaneously is a major challenge. Indeed, it has always been necessary to compromise on one or more of these needs to achieve existing solutions. With regard to foot-ankle prostheses, current architectures still do not allow all the criteria mentioned to be met simultaneously. In general, it is common to have to make concessions, particularly with regard to hearing comfort, ergonomics, compactness, aesthetics or fatigue resistance, which makes these solutions still unsatisfactory for many users.

[0008] The present disclosure improves the situation and proposes a solution making it possible to provide a response to all or part of the needs stated above. Summary

[0009] For this purpose, there is provided an articulated device configured to be fixed to an assembly, such as a part of a patient's body or a robotic mechanism, comprising: - A first member and a second member, - A first articulation allowing rotation along a first axis between the first member and the second member, - An actuator configured to rotate the second member relative to the first member around said first joint, - A lift configured to oppose said rotation of the second member relative to the first member in a first direction of rotation, said lift being configured not to oppose said rotation of the second member relative to the first member in a second direction of rotation opposite to the first direction of rotation, one of the first member or the second member being integral with the lift, and the other of the first member or the second member comprising a rocker being capable of actuating the lift tempter, said rocker comprising a first end configured to be fixed to the assembly or to remain free, and a second end capable of actuating the lifter, the first articulation being connected to said rocker in a zone separate from the first end or the second end so as to allow a rocking movement of the rocker around said first articulation.

[0010] Thanks to the powertrain, it is possible to generate a torque at the first joint which induces a resultant force, via a lever arm produced by the second member, on the surface on which the second member rests, for example on the ground. In the context of an ankle prosthesis, this is true in particular in the propulsion phase. When the patient unloads his rear supporting leg in favor of his front leg, and the patient's tibia then tilts relative to the vertical, a horizontal component then appears allowing, for example, either to accelerate or to maintain the constant speed of the walker.

[0011] Thanks to the lift, it is possible to participate in the patient's support phases by providing an apparent stiffness allowing him in particular not to have the sensation of collapsing during his progression. Indeed, during the support phase, which can precede the propulsion phase, the patient tends to "collapse" under the action of gravity. The lift may in particular be capable of providing a resisting torque opposing said rotary movement in the first direction of rotation of the second member relative to the first member, so as to retain the patient whether he is stationary or moving.

[0012] The lift is configured so as not to oppose the rotation of the second member relative to the first member in a second direction of rotation opposite to the first direction of rotation. This implies that it can either no longer oppose any resisting torque to this second direction of rotation and therefore leave this second direction of rotation free, or that it can also accompany the rotation of the second member relative to the first member in this second direction of rotation by providing a driving torque, for example by restoring energy in the case of a lift with elastic deformation.

[0013] The lift can also participate in the horizontalization of the resultant force on the ground of the torque at the level of the first articulation. "Horizontalization" is understood to mean the fact of creating or increasing a horizontal resultant of the action of the powertrain. This torque can be produced by the operation of the actuator and can also be provided by energy restitution by the lift, in the case where the latter is capable of producing a torque, for example when it is made up of an elastically deformable element, for example a blade or compression, or traction or torsion. Indeed, the lift can be capable of exerting a zero, or limited or negative torque in the second direction of rotation opposite to the first direction of rotation of the second member relative to the first member. In the case of a limited torque, it may be limited to a value at least strictly lower than that of the resistive torque exerted by the lifter in the first direction of rotation. In the case of a negative torque, relative to the resistive torque which would in this case have a positive value, it will be understood that it is then not a resistive torque but a driving torque, which can for example provide a force added to that of the actuator in the propulsion phase to accompany the rotation in this second direction of rotation.

[0014] The rocker may be an integral part of the first member or the second member. The rocker, thus used as a mechanical transmission element, has the advantage of allowing the work exerted on the first member or the second member to which it belongs to be transferred into work exerted on the lift, by rotation around the first articulation. For example, by transforming work which involves a set consisting of a force and a displacement in the upper part of the rocker into work involving another force / displacement set applied to the lift.

[0015] A concrete example would be to move from a situation where a force of 1500N is applied to a 10° circular arc with a radius R, to a situation where a force of 3000N is applied to a 10° circular arc with a radius of R / 2. It is possible to adjust or regulate the stressing of the lifter by modifying the geometry of the lever arms formed on either side of the first articulation by the rocker.

[0016] The orientation of the smallest lever arm of the rocker allows the stressing of the lift to be modulated. This modulation has the advantage of allowing the lift to be actuated and therefore the appearance of a torque resisting the fall of the patient, allowing both the patient to move forward but also the support of the latter.

[0017] Such an arrangement using a rocker allows the transmission of forces with great compactness and better walking comfort in the case of a prosthetic joint. In addition, this compactness allows a better distribution of forces and therefore better fatigue resistance of the assembly.

[0018] The transmission of forces by the rocker therefore allows the actuation of the lift, and therefore the appearance of a torque resisting the fall of the patient, allowing both his advance but also the support of the latter.

[0019] The first end of the rocker can be fixed to the assembly. The first joint can in other examples be intended to remain free, for example to occupy the function that the human foot would occupy. The fixing to the assembly is then ensured by the other of the first member or the second member which does not include the rocker.

[0020] The second end of the rocker can thus, by its distance from the first articulation, form a support lever capable of converting a torque at the level of the first articulation, into a force at the second end of the rocker.

[0021] The second end of the rocker may be configured to actuate the lift by coming into contact with the lift. For example, the rocker may thus be able to bring the second end into a position remote from the lift and into a position in contact with the lift to actuate it and transmit a force to it. In another example, the second end of the rocker may be permanently connected to the lift, by a recessed connection or connected by a pivot connection, or a ball joint connection, or a deformable connection.

[0022] The features set out in the following paragraphs may, optionally, be implemented, independently of one another or in combination with one another:

[0023] The first articulation may comprise at least one shaft portion carried by one of the first or second members, and at least one bearing, for example smooth or rolling bearing, carried by the other of the first or second members, the at least one shaft and the at least one bearing being able to cooperate to produce said first articulation.

[0024] The lifter may comprise at least one deformable blade and a support element, and thus form a blade spring. The deformable blade may comprise an attachment end secured to one of the first member or the second member, and a free end. The support element may be secured to the rocker of the other of the first member or the second member and may be capable of coming into contact with the free end of said deformable blade so as to deform said deformable blade, and thus actuate the lifter.

[0025] The support element may comprise at least one rolling element such as a roller or at least one roller, or at least one ball joint in pivot connection with the rocker. The support element may comprise any means known to those skilled in the art for obtaining and maintaining linear or surface contact throughout the support stroke of the support element with the deformable blade. Surface contact may be obtained by using a deformable element, one surface of which may be crushed against the deformable blade during the transmission of the force. The pivot connection of the support element may allow the support element to roll throughout the support stroke on the leaf spring to maintain contact while limiting friction. The pivot connection may have an axis perpendicular to a direction of the deformation arrow of said leaf spring. For example, the axis of the pivot connection may be parallel to the first axis.

[0026] This deformation allows the lift to oppose the rotation of the second member relative to the first member in a first direction of rotation, and also allows, by elasticity of the lift, to drive in rotation in a second direction opposite to the first direction of rotation the second member relative to the first member. This drive can operate in cooperation with the motor which can also rotate the second member in a second direction of rotation, or operate alone when the motor does not need to transmit engine torque.

[0027] The lift may comprise at least one deformable blade. If the lift comprises a plurality of deformable blades, these may each be connected by an attachment end to one of the first member or the second member, their respective free end being able to be free and in contact with the support element.

[0028] Said deformable blade may comprise a composite material. The composite material allows in particular better fatigue resistance than blades composed of metal. Said composite material may comprise fibers embedded in a matrix. The fibers may be carbon, glass or aramid fibers. The matrix may be a resin, for example a thermosetting resin such as an epoxy resin, or a polyester resin, or a thermoplastic resin.

[0029] The lifter may comprise a fluidic damper. The fluidic damper may be a hydraulic damper or a pneumatic damper. Said damper may comprise a body and a piston movable in the body. The movable piston may then be connected to a rod, itself connected to the rocker comprising the first member or the second member. The body of said damper may be connected to the other of the first member or the second member. The rod may be pivotally connected to the rocker, for example at its second end, by a pivot connection, or a ball joint connection, or a deformable connection. The body may be pivotally connected to the other of the first member or the second member, for example by a pivot connection, or a ball joint connection, or a deformable connection. The pivoting connections of the rod or the body may allow rotation about an axis parallel to the first axis of the first articulation.

[0030] The lifter may comprise a compression or tension spring. For example, the spring may be a helical spring which may comprise one or more deformable coils. The deformable coil(s) may comprise one or more oval, cylindrical, and / or conical coils. The spring may also comprise one or more “Belleville” washers. The deformable coils may be made of metal, for example steel, or an elastic material.

[0031] The coil spring may comprise a first end connected to the rocker. The coil spring may comprise a second end connected to the other of the first member or the second member. The first end may provide a pivoting connection with the rocker, for example via the support lever. The second end may provide a pivoting connection with the other of the first or the second member, for example via the support lever. Such pivoting connections may be obtained by a pivot connection, or a ball joint connection, or a deformable connection. These pivot connections can allow rotation along an axis parallel to the first axis.

[0032] The coil spring may be a compression, tension or torsion spring.

[0033] In the case where the helical spring is called “traction”, it will be arranged so that a rotation in the first direction of rotation of the second member relative to the first member stresses said “traction” helical spring in traction, and that the helical spring thus tends to compress to return to its initial shape while opposing the first direction of rotation.

[0034] In the case where the helical spring is said to be “compression”, it will be arranged so that a rotation in the first direction of rotation of the second member relative to the first member stresses said “compression” helical spring in compression, and that the helical spring thus tends to lengthen to return to its initial shape while opposing the first direction of rotation.

[0035] In the case where the helical spring is said to be “torsion”, it will be arranged so that a rotation in the first direction of rotation of the second member relative to the first member stresses said “torsion” helical spring in torsion, and that the spring thus tends to twist in the other direction to return to its initial shape while opposing the first direction of rotation.

[0036] The actuator may comprise a powertrain, comprising for example a transmission and a motor, or a cylinder. A fixed part of the actuator, for example a cylinder body, or a stator, or a frame, may be connected to the first member, either integrally, or by a pivoting connection or by a ball joint. An output of the actuator may be connected to the second member. In this way, the output of the actuator may drive the second member in rotation about the first articulation relative to the first member. For example, the output of the actuator may be connected to an oscillating lever integral with the second member, the fixed part of the actuator may then be connected to the first member by a pivoting connection to absorb parasitic angular movements due to a horizontal component of the oscillation of the oscillating lever integral with the second member.

[0037] The actuator may comprise a flat motor, which for example may have the advantage of providing high torque for a low rotational speed offering reduced size and noise. Alternatively, the actuator may comprise a cylindrical motor.

[0038] The powertrain may comprise a screw-nut transmission, capable of transforming a rotational movement of the engine into a translational movement to drive the second member in rotation relative to the first member around the first articulation.

[0039] The transmission of the powertrain may be mechanically reversible. In effect, one of the screw or nut that is connected to the motor can be rotated by applying a force to the other of the screw or nut that is connected to the lift. The motor of the powertrain can be configured to operate as a generator and, for example, transmit the energy of said force to the energy storage device.

[0040] The nut may be driven by the motor and the screw may be connected to the second member, for example by the rocking lever. In another example, the screw may be driven by the motor, and the nut may be connected to the second member, for example by the rocking lever.

[0041] One of the screw or nut may be connected by a pivot or ball joint, for example along an axis parallel to the first axis of the first joint, to a first end of the oscillating lever, the other of the screw or nut being rotated by the motor. Said oscillating lever being connected to the second member has a second end at the first joint so that a translation of one of the screw or nut causes a rotation of the second member around the first joint relative to the first member.

[0042] The actuator may comprise a cylinder, or a linear motor. The actuator can then directly, that is to say without requiring additional transmission, transmit a translational movement to the first end of the lever. An output of the actuator may be connected by a pivot connection, for example along an axis parallel to the first axis, to the first end of the oscillating lever.

[0043] The actuator may be offset relative to the transmission which connects its output with the second member. In this case, the actuator may comprise a transmission comprising one or more gears, or a system of pulleys-belts between the output of the actuator and the second member. The transmission may comprise an output pulley coaxial with the output of the actuator, and a drive pulley coaxial with the screw and / or the nut, the rotation of the output pulley being transmitted to the drive pulley by a toothed belt, and / or by a chain, and / or by one or more additional pulleys.

[0044] The articulated device may comprise a second elastic joint. The second elastic joint may be capable of storing and / or restoring energy between the output of the actuator and the second member. Said joint may comprise an input element connected to an output of the actuator, and an output element capable of being connected to the second member. The input element may be capable of pivoting about a second axis of rotation relative to the output element while opposing the resistive torque.

[0045] The second elastic joint may comprise a torsion bar. The second joint may thus accumulate energy when it is stressed in a first direction of rotation and restore this energy in a second direction of rotation opposite to the first direction of rotation.

[0046] The first axis of the first joint and the second axis of the second joint may be parallel. The first axis of the first joint and the second axis of the second joint may coincide. The first and second joints may be concentric.

[0047] The articulated device may comprise a third member and a third articulation between the second member and said third member. Said third articulation allows rotation of the third member relative to the second member along a third axis.

[0048] The third member may comprise a group of several members each connected to the third joint. The plurality of members of the group may be rotatable about the third joint independently of each other.

[0049] The third articulation can allow, when walking flat, the horizontalization of the prosthesis by the inclination of a lever arm formed between the first articulation and the third articulation. This has the effect of creating and / or increasing the horizontal component of the force resulting from the torque exerted on the first articulation by the actuator, and thus causing the patient to move forward during walking.

[0050] The third axis may be parallel to the first axis, and / or to the second axis.

[0051] The third joint may comprise one or more clevis joints guided in rotation by one or more rolling bearings or by one or more plain bearings of any type known to those skilled in the art.

[0052] The third joint may comprise an elastically deformable element, for example a spring and / or a damper, between the second member and the third member. The third joint may comprise several springs and / or several dampers in combination. The spring may be a compression spring, a tension spring, a Belleville spring, a leaf spring, or a torsion spring, or a combination of several types of springs. The damper may be fluidic or comprise an elastomeric material, or a combination of several types of dampers.

[0053] The third joint may comprise a stop configured to limit the rotation of the third member relative to the second member. In other words, the third joint may comprise a stop that may be configured to limit the angular rotational travel of the third member relative to the second member. The stop may be adjustable, i.e. it may be possible to adjust the maximum angular travel of the third joint. The angular travel may be less than an angle value, for example equal to 45°.

[0054] The first articulation may also include an additional stop which can be configured to limit the angular travel between the first member and the second. member. Said additional stop can for example be adjusted to limit said angular travel to a value between 10° and 25°.

[0055] The first member may be intended to be fixed to the tibial part of a patient, and the second member may comprise a foot module intended to be able to come into contact with the ground when walking or to be integrated into a shoe. The foot module may thus have a shape similar to that of a human foot. The foot module may have dimensions similar to those of a human foot. The articulated device may then function as a replacement for a part of the tibia, an ankle and a foot of the patient.

[0056] The foot module of the second member may comprise one or more deformable blades and provide a function similar to that of the lift.

[0057] The articulated device may comprise a horizontal axis parallel to the ground and passing through a center of the first joint. The articulated device may comprise a power source configured to supply the actuator with power. The articulated device may comprise a tibial zone located above the horizontal axis and a podal zone located below the horizontal axis. The lifter and the podal module may be located in the podal zone, and the power source and the actuator may be located in the tibial zone.

[0058] The articulated device may comprise a horizontal axis parallel to the ground and passing through a center of the first joint. The articulated device may comprise a power source configured to supply power to the actuator. The articulated device may comprise a tibial area located above the horizontal axis and a foot area located below the horizontal axis. The lifter and the actuator may be located in the tibial area, and the power source and the foot module may be located in the foot area.

[0059] The articulated device may also comprise a controller, providing at least the control functions of the actuator. The controller may be connected to the energy source and to the actuator.

[0060] The first or second member of the articulated device may be connected to the assembly, comprising not the socket of a patient but another actuator, for example acting as a knee reusing all or part of the articulated device, or forming part of a mechatronic or mechanical system. Brief description of the drawings

[0061] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0062] [Fig.l] shows a schematic representation of an example of an articulated device including a blade lift, in a first stage of the kinematics of walking, Fig. 2

[0063] [Fig.2] shows a schematic representation of an example of an articulated device in a second stage of the kinematics of walking, Fig. 3

[0064] [Fig.3] shows a schematic representation of an example of an articulated device in a third stage of the kinematics of walking, Fig. 4

[0065] [Fig.4] shows a schematic representation of an example of an articulated device in a fourth stage of the kinematics of walking Fig. 5

[0066] [Fig.5] shows a schematic representation of an example of an articulated device including a fluid lift, Fig. 6

[0067] [Fig.6] shows a schematic representation of an example of an articulated device including a spring lift, Fig. 7

[0068] [Fig.7] shows a schematic representation of an example of an articulated device comprising an actuator and a lift in the tibial area, a foot module and an energy source in the foot area, Fig. 8

[0069] [Fig.8] shows another schematic representation of an example of an articulated device, Fig. 9

[0070] [Fig.9] shows yet another schematic representation of an example of articulated device, Fig. 10

[0071] [Fig. 10] shows another schematic representation of an exemplary articulated device comprising an exemplary transmission, Description of the embodiments

[0072] Reference is now made to [Fig. 1]. This schematically represents, by way of example, an example of the articulated device 1 described above.

[0073] In this example, the articulated device 1 comprises a first member 2 and a second member 3. The first member 2 being, in this example, intended to replace all or part of a tibial part of an amputated patient, the second member 3 being intended to replace a foot of the patient. The articulated device 1 comprises also a first articulation 4 allowing rotation along a first axis Al between the first member 2 and the second member 3. The first member 2 here comprises a rocker 12. The rocker here forms an integral part of the first member 2. The first articulation 4 is connected to the rocker 12 in a zone separate from its first and second ends 121, 122.

[0074] The articulated device 1 further comprises an actuator 5 configured to rotate the second member 3 relative to the first member 2, in this example the rocker 12, around said first articulation 4. The actuator 5 here comprises an electric motor composed of an output 51, here a rotor, and a stator 52, the stator 52 being integral with the rocker 12. A nut 54 is rotated by the rotor and allows a translational movement of a screw 53 pivotally connected to an oscillating lever 32 integral with the second member 3, so as to cause a rotation of the latter relative to the first member 2 comprising the rocker 12 around the first articulation 4. The stator 52 is further connected to the first member 2 by a pivot connection with an axis parallel to the axis A1 of the first articulation 4, so as to allow the rotation induced by the horizontal component (here parallel to the ground) of the movement of the oscillating lever 32 carrying the screw 53.

[0075] The articulated device 1 comprises a lift 6 being in this example a leaf spring 61 comprising a deformable leaf 65 and a support element 62. The deformable leaf 65 comprises an attachment end 63 made of the same material as the second member 3 and a free end 64. The support element 62 located at the second end 122 of the rocker 12 of the first member 2 comprises a rolling element intended, in this example, to maintain linear contact with the second free end 64 of the deformable leaf 65 so as to deform it. It is also possible in other examples for the support element 62 to allow surface contact with the free end 64 of the lift 6.The lever arm between the second end of the rocker 12, which comprises the support element 62, and the first articulation 4 forms a support lever 22, making it possible to transform a torque applied at the level of the first articulation 4 into a support force transmitted by the support element 62 on the free end 64 of the deformable blade 65.

[0076] The articulated device 1 according to the illustrated example [Fig.l] also comprises an energy source, here a battery, secured to the first member 2 and housed in the tibial part of the articulated device 1. The articulated device 1 also comprises a tibial module 21 located in the tibial part and secured to the rocker 12 of the first member 2, as well as a podal module 31 located in the podal part and secured to the second member 3, the podal module being intended to replace the function of the sole of the foot and to come into contact with the ground, or more generally, on the surface on which walking takes place.

[0077] Thus, the first member 2 here consists of the rocker 12, the rocker 12 comprising a first end 121 intended to be fixed to an assembly 100 such as a patient's body or a robotic mechanism, the first end 121 being separated from the first articulation 4 by the tibial module 21. The second end 122 of the rocker 12 being separated from the first articulation 4 by the support lever 22.

[0078] The articulated device 1 further comprises a third member 8, here replacing the patient's toes. The third member 8 is connected to one end of the second member 3 by a third articulation 9 replacing the patient's metatarsophalangeal joint and allowing rotation along an axis A3 of the third member 8 relative to the second member 3. The axis A3 is here parallel to the axis A1 of the first articulation.

[0079] The third articulation 9 comprises a fluidic damper 92 as well as a helical compression spring 91, and an adjustable stop 93 making it possible to limit an angular travel a of rotation of the third member 8 relative to the second member 3 to a maximum angle value.

[0080] [Fig.l] schematically represents this example of articulated device 1 in a first stage of the kinematics of walking, that is to say that the angular travel of the third member relative to the second member is equal to 0° and that they are aligned "flat" on the ground. The podal module 31 and the tibial module 21 are in this position substantially perpendicular to each other. This first stage symbolizes the last state preceding the support phase.

[0081] [Fig. 2] schematically shows the same example of articulated device 1 in a second stage of the walking kinematics. Here, the motor has started to rotate the nut 54 which translates the screw 53 away from the rotor. This has the effect, via the oscillating lever 32, of initiating the accompaniment, with or without resistance, of the natural inclination of the patient authorized by the rotation of the second member 3 relative to the first member 2 around the first articulation 4. This represents, in this example, an inclination of the patient's tibia, here of the tibial module 21. The podal 31 and tibial 21 modules are then no longer perpendicular to each other.

[0082] The deformable blade 65 opposes the movement of the second member 3 remaining on the ground relative to the first member 2 in a first direction of rotation by means of the support element 62, to prevent the carrier from falling due to an inclination of the first member 2 that is too great or too rapid. In fact, the support element 62 forces the deformable blade 65 to deform and to apply a resisting force, here a resisting torque induced by the rocker 12 by the support lever 22 at the level of the first articulation 4, opposing the rotation of the second member 3 relative to the first member 2. This deformation makes it possible to relieve the motor which does not have to perform this retaining function alone, possibly which does not have to perform it at all in a simple accompanying movement.

[0083] In [Fig. 3], the same example of articulated device 1 is schematically illustrated during a third step of the walking kinematics. The first limb 2 is then sufficiently inclined so that the patient prepares to lift the articulated device 1 from the ground and the other foot, or the other prosthesis 1 if it is equipped with two prostheses, initiates the first step of walking on the other side by striking the heel on the ground. The function of the heel can for example be ensured by one end of the foot module opposite the end located at the third articulation 9. The deformable blade 65 has made it possible to drive, in cooperation or not with the actuator, the second limb 3 in rotation relative to the first limb 2 in a second direction of rotation opposite to the first direction of rotation to bring the foot module 31 into a position substantially perpendicular to the tibial module 21.This involves in particular a relative rotation of the second member 3 with respect to the third member 8 around the third articulation 9, the third member 8 having remained "flat" on the ground. This rotation of the second member 3 allows, by the lever arm constituted by the distance between the third articulation 9 and the first articulation 4, to contribute to the advance of the patient during walking. It is when the angle a approaches, for example here 45°, blocked by the adjustable stop, that, the patient having rested sufficiently on his other foot, the articulated device continues its opening, solely by the action of the motor-propulsor. The following step, the initial phase of which is schematically represented in [Fig.4], consists of bringing the articulated device 1 forward on the other foot to restart the operation from the first step of the walking kinematics.

[0084] [Fig. 5] schematically illustrates another example of an articulated device 1 according to the present disclosure. The articulated device 1 here comprises a lift 6 comprising a fluidic damper 66. The damper here comprises a body 661 pivotally connected to the second member 3. The fluidic damper 66 also comprises a piston 662 movable in the body 661. The movable piston 662 is connected to a rod 663, itself pivotally connected to the rocker 12 of the first member 2 at the second end 122. The pivoting connections of the body 661 and of the rod 663 here both allow rotation along axes parallel to the axis A1 of the first articulation 4.

[0085] The articulated device 1 also comprises, according to this example, a second articulation 7. The prosthesis then comprises an input element 71 integral with or merged with the oscillating lever 32, and an output element 72 integral with the second member 3, here by the body 661 of the fluidic damper 66. In this example, the oscillating lever 32 is no longer integral with the second member 3, but linked to the latter by the second articulation 7 which is elastic. The second articulation 7 is said to be “elastic” in the sense that when it is stressed in a direction of rotation, it is able to store the energy that it can then restore in a second direction of rotation opposite to the first direction of rotation. In this example, the second articulation 7 comprises a torsion bar known to those skilled in the art, allowing additional damping and compact energy restitution in series with the actuator.

[0086] For reasons of clarity, the second articulation 7 has only been shown schematically in the examples of articulated device 1 of figures 5 to 10. According to the present disclosure, the example of articulated device 1 shown schematically in figures 1 to 4 may also comprise a second articulation 7.

[0087] [Fig. 6] schematically illustrates another example of an articulated device 1. The articulated device 1 here comprises a lifter 6 comprising a tension spring 67. The tension spring here comprises a set of metal helical coils 671 comprising a first and a second spring end 672, 673. The spring 67 is pivotally connected by its first spring end 672 to the second end 122 of the rocker 12, and by its second spring end 673 pivotally to the second member 3. The pivoting connections of the first and second spring ends 672, 673 here both allow rotation along axes parallel to the axis A1 of the first articulation.

[0088] In [Fig.7], 8 and 9, other examples of articulated device 1 are schematically illustrated, each comprising a different type of lift, namely a leaf spring 61, a fluidic damper 66 and a spring 67. In these examples, it is the second member 3 which comprises the rocker 12. The first end 121 of the rocker 12, in these examples, is intended to remain free, in the sense that it takes on the function of the patient's foot. Unlike the previous examples in which the first end 121 of the rocker was intended to be fixed to an assembly 100, such as a patient's body or a robotic mechanism. In these examples, a horizontal axis Ah is illustrated delimiting a tibial zone, located above and a podal zone located below said horizontal axis Ah. The lifter 6 is positioned, in these examples, with the actuator 5 in the tibial zone of the articulated device 1.The energy source 10, here a battery, is positioned in the foot zone, in particular on the foot module 31 of the second member 3.

[0089] Reference is now made to [Fig. 10], in which another example of an articulated device 1 is illustrated in which the actuator is offset relative to the transmission which connects its output with the second member 3. Indeed, in the first stage of the walking kinematics, the ground being considered horizontal, the actuator is then located directly vertical to the first articulation 4 while the screw 53 of the oscillating lever 32 is offset relative to the output 51 of the motor. Here, the axis of rotation of the screw 53 and the axis of rotation of the output 51 of the motor are parallel but distant from each other. In this case, the motor comprises a transmission 11 comprising a pulley output 111 coaxial with the output 51 of the motor, and a drive pulley 112 coaxial with the screw 53. A toothed belt 112 allows the rotation of the output pulley 111 to be transmitted to the drive pulley 112. The drive pulley 112 is then linked to the nut 54 which allows the translation of the screw 53. Industrial application

[0090] The present technical solutions may find application in particular in the field of articulated devices, including joint prostheses and also robotic assemblies seeking, for example, to imitate human walking. The solutions described are of particular interest in active ankle prostheses, intended to restore mobility to people with disabilities, in particular people with tibia amputations.

Claims

Claims

1. Articulated device (1) configured to be attached to an assembly (100), such as a patient's body part or a robotic mechanism, comprising: - a first member (2) and a second member (3), - a first articulation (4) allowing rotation along a first axis (Al) between the first member (2) and the second member (3), - an actuator (5) configured to rotate the second member (3) relative to the first member (2) around said first articulation (4), - a lift (6) configured to oppose said rotation of the second member (3) relative to the first member (2) in a first direction of rotation, said lift (6) being configured not to oppose said rotation of the second member (3) relative to the first member (2) in a second direction of rotation opposite to the first direction of rotation, one of the first member (2) or the second member (3) being integral with the lift (6), and the other of the first member (2) or the second member (3) comprising a rocker (12) being capable of actuating the lift (6), said rocker (12) comprising a first end (121) configured to be fixed to the assembly (100) or to remain free, and a second end (122) capable of actuating the lift (6), the first articulation (4) being connected to said rocker (12) in a zone distinct from the first end (121) or from the second end (122) so as to allow a rocking movement of the rocker (12) around said first articulation (4).

2. Articulated device (1) according to the preceding claim, in which the lifter (6) comprises at least one deformable blade (65) and a support element (62), said deformable blade (65) comprising an attachment end (63) secured to one of the first member (2) or the second member (3), and a free end (64), said support element (62) being secured to the rocker of the other of the first member (2) or the second member (3) and being capable of coming into contact with the free end (64) of said deformable blade (65) so as to deform said deformable blade (65) and thus actuate the lift (6).

3. Articulated device (1) according to the preceding claim, said deformable blade (65) comprising a composite material.

4. Articulated device (1) according to claim 1, in which the lifter (6) comprises a fluidic damper (66).

5. Articulated device (1) according to claim 1, in which the lifter (6) comprises a tension or compression spring (67).

6. Articulated device (1) according to any one of the preceding claims, wherein an output (51) of the actuator (5) is connected to the second member (3).

7. Articulated device (1) according to any one of claims 1 to 5, comprising a second elastic articulation (7), said second articulation (7) comprising an input element (71) connected to an output (51) of the actuator, and an output element (72) connected to the second member (3).

8. Articulated device (1) according to any one of the preceding claims comprising a third member (8) and a third articulation (9) between the second member (3) and said third member (8), said third articulation (9) allowing rotation of the third member (8) relative to the second member (3) along a third axis (A3).

9. Articulated device (1) according to any one of the preceding claims, wherein the first member (2) is intended to be fixed to the tibial part of a patient, and the second member (3) comprises a foot module (31) intended to be in contact with the ground.

10. Articulated device (1) according to the preceding claim, comprising a horizontal axis (Ah) parallel to the ground and passing through a center of the first articulation (4), the articulated device (1) comprising an energy source (10) configured to supply the actuator (5) with energy, the articulated device (1) comprising a tibial zone located above the horizontal axis and a foot zone located below the horizontal axis, the lifter (6) and the foot module (31) being located in the foot zone, and the energy source (10) as well as the actuator (5) being located in the tibial zone.

11. Articulated device (1) according to claim 9, comprising a horizontal axis parallel to the ground and passing through a center of the first articulation (4), the articulated device (1) comprising an energy source (10) configured to supply the actuator (5) with energy, the device articulated(l) comprising a tibial zone located above the horizontal axis and a podal zone located below the horizontal axis, the lifter (6) and the actuator (5) being located in the tibial zone, and the energy source (10) and the podal module (31) being located in the podal zone.

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