Trunk movement assistance exoskeleton.

Abstract

Trunk Movement Assistance Exoskeleton The invention relates primarily to a trunk movement assistance exoskeleton (1) for a wearer, comprising means for torso support (6) of said wearer, characterized in that it comprises a dorso-costal support system (56) including a dorso-costal belt (73) actuable between a relaxed position and a rib-containment support position, and means for actuating the dorso-costal belt (73) to its rib-containment support position when the wearer performs a trunk movement, which actuating means (65) include means for connecting (66) to the torso support means (6) of the wearer. Figure to be published with the abbreviation: Fig. 1

Description

Title of the invention: Exoskeleton for assisting trunk movements. technical field

[0001] The invention falls within the field of physical assistance systems for human body movements, and more particularly within the field of exoskeletons for physical assistance of trunk movements of a user wearing such an exoskeleton. PRIOR ART AND DISADVANTAGES OF PRIOR ART

[0002] In many situations, mostly related to work, individuals regularly have to perform trunk movements—particularly bending over to lift a load—which puts significant stress on the lumbar vertebrae due to the tension of the lumbar muscles. These repeated and prolonged movements eventually lead to lower back pain, or even injuries.

[0003] Various exoskeleton models are known, which typically include back belts that work by compression around the user's waist. These belts include, in particular, adjustment straps to adapt to the user's body shape.

[0004] One drawback of these prior art systems lies in the large number of straps used. These straps are sometimes complex to install and create pressure points around the waist. Furthermore, the effectiveness of the support depends on the tightness of the belt, which is not always easy for a novice to master, as they must find the balance between comfort and sufficient support. OBJECTIVE OF THE INVENTION

[0005] The invention therefore aims to provide a trunk movement assistance exoskeleton that is simple to install, compact, ergonomic and more efficient. Description of the invention

[0006] To this end, the invention relates to an exoskeleton for assisting trunk movements of a wearer, comprising means for maintaining the wearer's torso, a dorso-costal support system comprising a dorso-costal belt that can be acted upon between a position of relaxation and a position of support in rib restraint, and means for acting the dorso-costal belt towards its position of support in rib restraint when the wearer makes a trunk movement, which means of acting include means for connecting to the means for maintaining the wearer's torso.

[0007] The exoskeleton may also include the following optional features considered in isolation or according to all possible technical combinations: • The dorso-costal belt includes a dorsal support device and a costal support device connected to the actuation means and mounted movable relative to the dorsal support device between the release position and the costal restraint support position. • The costal support device comprises two lateral costal support arms substantially parallel to each other and perpendicular to the dorsal support device, each arm comprising a free costal end intended to come to rest against the flanks of the wearer and an opposite connecting end linked by sliding in the dorsal support device by the actuation means between the release position and the position of support in costal restraint. • The connecting means are formed by sheathed cables whose opposite ends are respectively connected to the connecting ends of the costal support branches and to the means of restraint to the wearer's torso. • The actuation means include at least one elastic element attached to the means of support to the torso, which elastic element is connected to the sheathed cables and is capable of exerting a restoring force of the costal support branches towards their costal support position transmitted by the sheathed cables. • The means of support to the torso include an articulated frame, support points of the frame against the back and against the thorax of the wearer, and means of distancing the frame from the shoulders of the wearer when the latter is equipped with the exoskeleton. • The frame includes two articulated cervical branches capable of extending on either side of the cervical vertebrae of the wearer equipped with the exoskeleton from a free dorsal end to a free thoracic end. • The free dorsal ends of each of the two cervical branches are joined together to form a single dorsal end, and each of the free thoracic ends of the two cervical branches forms two distinct thoracic ends. • The considered ends of the sheathed cables are connected to the dorsal end of the cervical branches. • The elastic organ of the actuation means is attached to the dorsal end of the cervical branches. PRESENTATION OF THE FIGURES

[0008] Other features and advantages of the invention will become clear from the following: The description given below is for illustrative purposes only and is not exhaustive, with reference to the attached figures, among which:

[0009] [Fig.1] Fig.1 represents a perspective view of the dorso-costal support exoskeleton according to one embodiment.

[0010] [Fig. 2] [Fig. 2] shows a perspective view of a detail of the actuation means of the dorso-costal support system of the exoskeleton of [Fig. 1]. DETAILED DESCRIPTION OF THE INVENTION

[0011] It is first specified that in the figures, the same references designate the same elements regardless of the figure in which they appear and regardless of the form of representation of these elements. Similarly, if elements are not specifically referenced in one of the figures, their references can easily be found by referring to another figure.

[0012] It is also specified that the figures essentially represent one embodiment of the object of the invention but that there may be other embodiments which meet the definition of the invention.

[0013] The invention relates to a dorso-costal exoskeleton 1, intended to be installed on the torso and at the waist of a wearer to accompany the extension movements of the trunk of said wearer.

[0014] With reference to figures 1 to 2, the exoskeleton 1 includes on the one hand means for holding 6 to the torso of a wearer of said exoskeleton 1, and on the other hand a dorso-costal support system 56 to accompany any flexion movement of the trunk of the wearer equipped with said exoskeleton 1.

[0015] The term "torso" refers to the upper part of the body between the head and the waist of the wearer. Consequently, the support means 6 of the exoskeleton 1 according to the invention do not cooperate with the parts of the wearer's body located at and below the waist.

[0016] The means for securing the wearer's torso 6 comprise an articulated frame 2, for example made of aluminum, which frame 2 includes two curved or angled main arms 7 that extend, when the wearer is equipped with the exoskeleton 1, over the wearer's shoulders on either side of their cervical vertebrae. Thus, each main arm 7 extends from a free dorsal end 11 to a free thoracic end 12 when the wearer is equipped with the exoskeleton 1, which free thoracic end 12 is designed to rest against the wearer's thorax, more precisely under one of their clavicles.

[0017] Furthermore, to improve the positioning and retention of the main branches 7 on the wearer's torso, the free dorsal ends of said main branches 7 are joined together to form a single dorsal end 11, while the free thoracic ends of the two main branches 7 form two separate thoracic ends 12.

[0018] Each main branch 7 is formed of a dorsal portion 33 comprising the dorsal end 11, a thoracic portion 34 comprising the thoracic end 12, and a central portion 35 connecting the thoracic and dorsal portions via pivot joints 14. In fact, and as in other embodiments, the dorsal portion 33 and thoracic portion 34 are pivotally movable relative to the central portion 35 between an extended and a folded position. In particular, the joints 14 are notched, which ensures that the branches are held in their chosen position (extended or unfolded).

[0019] With reference to [Fig. 1], the dorsal section 33 of each arm 7 is formed of a telescopic tube with locking notches that allow the length of said dorsal section 33 to be adjusted, thus optimally fitting the frame 2 to the wearer's shoulders. Furthermore, the dorsal sections are inclined and extend from their common dorsal end 11 symmetrically with respect to the wearer's neck axis. In other words, the angles formed between the neck axis and the dorsal section of the two respective arms are identical, these two angles being acute. This facilitates the donning and wearing comfort of the exoskeleton 1d on the wearer.

[0020] Furthermore, the central portion 35 of each arm 7 is adjustable to adapt the arms 7 to the wearer's morphology. The central portion 35 may also include a mounting projection (not shown) intended to cooperate with another exoskeleton (not shown) intended to support the wearer's upper limb movements.

[0021] The support means 6 comprise support points 8 of the frame 2 against the back and thorax of the wearer. These support points 8, located at the thoracic ends 12 and the dorsal end 11 of the main branches 7, comprise contact pads 9 mounted in an articulated manner via a ball joint 10 on each thoracic end 12 or dorsal end 11. More specifically, each thoracic end 12 or dorsal end 11 is connected to a contact pad 9, itself mounted on a ball joint 10 integral with the end in question 11, 12. In this way, the entire contact surface of each contact pad 9 is in contact with the thorax or back of the wearer when the latter is equipped with the exoskeleton 1.

[0022] Furthermore, and particularly advantageously, this clamping effect allows the wearer equipped with the exoskeleton 1 to keep the main arms 7 away from the wearer's shoulders. The main arms 7 therefore do not form any support points on the user's shoulders on either side of the cervical vertebrae, that is to say, neither on the upper back nor on the wearer's trapezius muscles. The rigid nature of the main branches 7 and the ends 11, 12 of said branches 7 form means of distancing the frame 2 from the shoulders of the wearer when the latter is equipped with the exoskeleton 1.

[0023] Thus, the support means 6 of the exoskeleton 1 do not cause any discomfort to the wearer. Furthermore, since the contact surface between the support means 6 and the wearer's torso is limited to the contact pads 9, the wearer's movements do not affect the adjustment of the arms 7 and the support points 8.

[0024] Optionally and with reference to [Fig.1], the exoskeleton 1 includes a device for assisting the extension movements of the wearer's head 3. This assisting device 3 includes a headrest 4 attached to the frame 2. More specifically, the assisting device 3 includes a support 47 for the headrest 4 connected to the frame 2 and to retrieval means.

[0025] The support 47 is an articulated linkage device of the headrest 4 to the frame 2 and comprises a ball joint 49 fixed to the headrest 4, a receiving member 50 of the ball joint 49 - in particular a bearing 50 - in which said ball joint 49 is free to rotate, and a connecting piece 51 of the receiving member 50 to the frame 2, which connecting piece 51 extends parallel to the nape of the neck of the wearer equipped with the exoskeleton 1 and has one end fixed to the receiving member 50 and an opposite end fixed to the dorsal end 11 of the two main branches 7. To increase comfort and adapt the headrest 4 to any wearer, the connecting piece 51 is formed of a telescopic tube to adjust its length. In addition, the connecting piece 51 is angled, to improve comfort and the contact surface between the headrest 4 and the wearer.Finally, the telescopic tube 51 is mobile along an anteroposterior axis according to the movements of the wearer. An elastic return mechanism allows the tube 51 to be brought back from a posterior position to an anterior position, in a direction away from the wearer's frontal plane.

[0026] The ball joint 49 includes a substantially cylindrical projection 55, while the housing of the ball joint 49 provided in the receiving member 50 includes a through opening 54: in this way, when the ball joint 49 is engaged in the receiving member 50, a part of the ball joint 49 passes through the through opening 54 of the receiving member 50 and in particular the cylindrical projection 55.

[0027] The headrest 4 includes a headrest 46 for the wearer's head and extends along a longitudinal axis which is perpendicular to the axis of the wearer's neck when the latter is equipped with the exoskeleton 1, which headrest 46 is integral with the support 47 and more particularly with the ball joint 49. To allow adjustment of the headrest 46 on the wearer's head, said headrest 46 includes means for adjusting its radius of curvature 52.

[0028] Finally, the retraction means include an elastic element whose ends are respectively attached to the cylindrical projection 55 of the ball joint 49 and to the connecting piece 51. In this way, the elastic element also extends parallel to the axis of the neck of the wearer.

[0029] The elastic organ has a triple function.

[0030] Firstly, the elastic element exerts a compensating force on the extension movement of the wearer's head applied to at least a portion of the headrest 4.

[0031] Secondly, the return mechanism exerts a contact force on the headband 46 against the wearer's head. Thus, as soon as the wearer is equipped with the exoskeleton 1 fitted with the support device 3, the elastic return mechanism will ensure that the headband 46 is brought into contact with the wearer's head.

[0032] Thirdly, the elastic element, the ball joint 49, the receiving element 50, and the connecting piece 51 are all arranged along a principal axis parallel to the axis of the wearer's neck. Thus, the elastic element prevents the hoop 46 from pivoting, for example, due to a lateral flexion movement of the wearer's head, and returns the hoop 46 to a position perpendicular to the axis of the wearer's neck.

[0033] The wearer is therefore naturally led to straighten his head when equipped with the exoskeleton 1 equipped with the support device 3, and consequently, the wearer feels - via a tension of the elastic organ along a component perpendicular to the axis of the neck - that the exoskeleton must be better positioned on him.

[0034] According to the invention, the exoskeleton 1 comprises a dorso-costal support system 56 which will now be described.

[0035] The costal support system 56 includes a dorso-costal support belt 73 which includes a dorsal support device 57 and a costal support device 53 having two lateral costal support branches 62. Each costal branch 62 includes a free costal end 64 and an opposite connecting end 63 connected by sliding to said dorsal support device 57.

[0036] The back support device 57 - which extends along a longitudinal axis perpendicular to the axis of the spine of the equipped wearer - comprises two back pieces 58 whose first respective ends are connected to each other by a flexible strap-type element 61, to allow better positioning and better support of the two back pieces 58 against the back of the wearer equipped with the exoskeleton 1.

[0037] The opposite ends of the two dorsal pieces 58 are connected by sliding to the connecting ends 63 of the two respective lateral costal support branches 62: each branch 62 is thus mobile by sliding in a sliding space 59 provided in the dorsal piece considered 58 and which extends along the longitudinal axis of the dorsal support device 58, between a spread position and a costal support position in support against the torso of the wearer of the exoskeleton 1.

[0038] Each costal support branch 62 further includes, at its free costal end 64, a support point 8 equipped with a contact pad 9 suitable for coming into contact with the wearer's torso.

[0039] The dorso-costal support system 56 further includes means for actuating the arms from their spread position to their rib support position. These actuating means 65 include flexible connecting means 66 linking the chest support means 6 and the dorso-costal support belt 73, and more specifically linking the free dorsal end 11 of the main arms 7 and said dorso-costal support belt 73. These connecting means 66 are formed by sheathed cables, each comprising a cable 67 housed in a flexible sheath 68, for example of the type used for bicycle brake cables, each sheathed cable 66 comprising a dorsal end portion 70 connected to the dorsal end 11 of the main arms 7, and an opposite rib end portion 69 attached to the dorso-costal support belt 73.This type of sheathed cable 66 ensures optimal comfort for the wearer, following the curvature of the back regardless of the wearer's movements.

[0040] More specifically, and as shown in [Fig. 1], the costal end portion 69 of each sheathed cable 66 is disposed in a housing 60 provided in the considered dorsal part 58 of the dorsal support device 57, which housing 60 opens into the sliding space 59 of the considered part 58. The end of the cable 69 is then connected to the connecting end 63 of the considered sliding arm 62. In [Fig. 1], the sheathed cables 66 are shown sectioned to illustrate the presence of the cables 67 inside the sheaths 68, but those skilled in the art will understand that these sheathed cables 66 are continuous between their respective end portions 69, 70.

[0041] Furthermore, the dorsal end portion 70 of each sheathed cable 66 is housed in a sleeve 71 attached to the chest support means 6, and more specifically attached to the dorsal end 11 of the main branches 7. Even more specifically, the end of the cable 67 housed in the sleeve 71 is connected to at least one compression spring 72 attached to the inner surface of the sleeve 71 ([Fig.2]), which spring 72 maintains a permanent tension on the cables 67 so that the latter tend to bring the costal branches 62 to which they are respectively attached towards their costal support position against the sides of the exoskeleton wearer 1. The springs 72 and the sheathed cables 66 form the actuation means 65.

[0042] The dorso-costal support system 56 functions as follows: when the wearer equipped with the exoskeleton 1 makes trunk movements, this has the effect of moving said support system 56 away from the torso restraint means 6, causing The movement of the cables 67 within their sheaths 68. In other words, when the wearer moves their torso, the sheaths 71 attached to the dorsal end 11 of the main branches 7 pull on the relevant ends of the cables 67, which in turn causes the lateral costal support branches 62 to slide towards their costal support position. Thus, the more the wearer flexes their torso, the more the support branches 62 tend to move towards their costal support position, and the greater the support force exerted by the costal support branches 62 against the torso, resulting in better support, particularly when moving loads. Furthermore, the effects generated by the dorso-costal support system 56 on the wearer provide information about their posture and encourage them to adopt a good, more ergonomic position.

[0043] Conversely, when the wearer straightens up, the pulling force of the cables 67 at the level of the sheaths 71 decreases, causing the costal support branches 62 to move towards their spread-apart position and consequently reducing the support force of said branches 62 against the wearer's torso.

Claims

Demands

1. Exoskeleton (1) for assisting trunk movements of a wearer, comprising means for maintaining the torso (6) of said wearer, characterized in that it comprises a dorso-costal support system (56) comprising a dorso-costal belt (73) actuable between a position of relaxation and a position of support in rib restraint, and means for actuating the dorso-costal belt (73) to its position of support in rib restraint when the wearer performs a trunk movement, which means of actuating (65) comprise means of connection (66) to the means for maintaining the torso (6) of the wearer.

2. Exoskeleton (1) according to the preceding claim, characterized in that the dorso-costal belt (73) comprises a dorsal support device (57) and a rib support device (53) connected to the actuation means (65) and mounted movable relative to the dorsal support device (57) between the release position and the rib support position.

3. Exoskeleton (1) according to the preceding claim, characterized in that the rib support device (53) comprises two lateral rib support arms (62) substantially parallel to each other and perpendicular to the dorsal support device (57), each arm (62) comprising a free rib end (64) intended to come to rest against the flanks of the wearer and an opposite connecting end (63) connected by sliding in the dorsal support device (57) by the actuation means (65) between the release position and the rib support position.

4. Exoskeleton (1) according to the preceding claim, characterized in that the connecting means (66) are formed by sheathed cables whose opposite ends are respectively connected to the connecting ends (63) of the costal support branches (62) and to the means of restraining the wearer's torso (6).

5. Exoskeleton (1) according to claim 3 or 4, characterized in that the actuation means (65) comprise at least one elastic element (72) integral with the torso support means (6), which elastic element (72) is connected to the sheathed cables (66) and is capable of exerting a restoring force of the costal support arms (62) towards their costal support position transmitted by the sheathed cables (66).

6. Exoskeleton (1) according to any one of the preceding claims, characterized in that the means for maintaining the torso (6) comprise an articulated frame (2), support points (8) of the frame (2) against the back and against the thorax of the wearer, and means for distancing the frame (2) from the shoulders of the wearer when the latter is equipped with the exoskeleton (1).

7. Exoskeleton (1) according to the preceding claim, characterized in that the frame (2) comprises two articulated cervical branches (7) capable of extending on either side of the cervical vertebrae of the wearer equipped with the exoskeleton from a free dorsal end (11) to a free thoracic end (12).

8. Exoskeleton (1) according to the preceding claim, characterized in that the free dorsal ends of each of the two cervical branches (7) are joined together to form a single dorsal end (11), and in that each of the free thoracic ends (12) of the two cervical branches (7) form two distinct thoracic ends (12).

9. Exoskeleton (1) according to the preceding claim, characterized in that the considered ends of the sheathed cables (66) are connected to the dorsal end (11) of the cervical branches (7).

10. Exoskeleton (1) according to claim 8 or 9 and according to claim 5, characterized in that the elastic element (72) of the actuation means (65) is integral with the dorsal end (11) of the cervical branches (7).

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