Exoskeleton for assisting at least one joint of an upper limb.

Abstract

Exoskeleton for assisting at least one joint of an upper limb The invention relates mainly to an exoskeleton (1a) for assisting at least one joint (2, 3) of an upper limb comprising a system (4) for accompanying a movement of a part of the limb driven by the joint (2, 3), which accompanying system (4a) comprises: • a device for assisting the joint (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) comprising a bearing end on the front part of the joint (12a, 12b, 12c), and a lever (8a, 8b, 8c) pivotally connected (13a, 13b, 13c) to the pivot (7a, 7b, 7c) and movable between a position separated from and a position brought closer to the bearing end (12a, 12b, 12c) of the pivot (8a, 8b, 8c);• means (14) for applying an actuating force of the support lever (8a, 8b, 8c) towards its close position, and • means (15) for adjusting said actuating force as a function of the angular position of the lever (8a, 8b, 8c) relative to a vertical axis. Figure to be published with the abstract: Fig. 1;

Description

Title of the invention: Exoskeleton for assisting at least one joint of an upper limb. Technical field

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

[0002] In many situations, most often related to professional activity, individuals must regularly move heavy loads from one point to another. These repeated movements weaken the wearer's joints, particularly their ankles.

[0003] Exoskeletons are known for accompanying the movements of the arms and / or forearms, and which conventionally comprise means of connection to the upper limbs, means of holding the exoskeleton to the bust, and means of accompanying the antepulsion movements of the shoulder and / or flexion of the forearm, that is to say movements of all or part of the upper limbs towards the front of the wearer's body, parallel to the sagittal plane.

[0004] These support means are formed of springs or flexible blades whose deformation generates a support force at the level of the shoulder and / or elbow joints, thereby supporting the wearer lifting a load.

[0005] A disadvantage of these prior art systems lies in their attachment, because they are bulky and generate points of restraint around the waist and / or chest of the wearer. Furthermore, these assistance systems may lack ergonomics. OBJECTIVE OF THE INVENTION

[0006] The invention therefore aims to propose an exoskeleton for assisting the movements of at least part of an upper limb which is simple to install, compact and ergonomic. Statement of the invention

[0007] To this end, the invention relates to an exoskeleton for assisting at least one joint of an upper limb of a wearer comprising means for holding the wearer to the bust, and a system for accompanying at least one movement, towards the front of the wearer's body parallel to a sagittal plane of the wearer's body and / or laterally to the wearer's body parallel to a frontal plane of the wearer's body, of a part of the limb driven by the joint, which accompanying system includes: • a joint assistance device comprising at least one pivot having a bearing end on the front part of the joint, and a lever having a pivoting connection end to the pivot and an opposite bearing end on the rear part of the limb part which is movable between a position separated from the bearing end of the pivot and a position close to said bearing end of the pivot; • means for applying an actuating force from the support end of the lever towards its close position, and • means for adjusting said actuating force as a function of the angular position of the lever relative to a vertical axis.

[0008] The exoskeleton may also include the following optional characteristics considered in isolation or in all possible technical combinations: • The support system includes means for adjusting the value of the actuating force in the same direction as a variation in the value of the angle between the lever and the vertical axis. • The assistance device is of the scapular type adapted to assist the wearer's shoulder and comprises: • a scapular pivot comprising a support end against the wearer's anterior deltoid; • a scapular lever comprising a support end against a posterior part of the wearer's arm, and • a scapular portion for connection to the means of support on the bust, which scapular connection portion is pivotally connected to the scapular support pivot. • The assistance device is of the ulnar type adapted to assist the wearer's elbow and includes: • an ulnar pivot comprising a support end against the wearer's elbow crease; • an ulnar lever comprising a support end against a posterior part of the wearer's forearm, and • an ulnar portion for connection to the means of support on the bust, which ulnar portion of connection is pivotally connected to the ulnar support pivot. • The support system includes the scapular assistance device and the ulnar assistance device, which connecting ulnar portion is connected to the scapular lever. • The means for applying the actuating force comprise means for moving the support end of the lever of the assistance device in question towards its close position, which means of movement connect the means for holding the bust to said assistance device, and means for controlling said means of movement. • The movement means comprise at least one sheathed cable connecting the support end of the lever and the support pivot of the assistance device in question, and a device for pulling the sheathed cable secured to the bust support means and controlled by the control means. • The means for adjusting the applied force comprise means for measuring the angle of inclination of the lever of the assistance device in question which are connected to the control means which control the traction device as a function of the measurement of said angle of inclination. • The adjustment means comprise a cam secured to a body of the lever of the assistance device in question, and a control cable of the traction device connected to said cam. • The exoskeleton comprises a dorso-costal belt, in that the adjustment means comprise a coxal cam secured to the dorso-costal belt, and a control cable of the traction device connected to said coxal cam. PRESENTATION OF FIGURES

[0009] Other characteristics and advantages of the invention will emerge clearly from the description given below, for information purposes only and in no way limiting, with reference to the appended figures, among which:

[0010] [Fig.l] [Fig.l] represents a schematic view of an arm equipped with a shoulder and elbow assistance exoskeleton according to a first variant;

[0011] [Fig.2] [Fig.2] represents a schematic view of an arm equipped with a shoulder and elbow assistance exoskeleton according to a second variant;

[0012] [Fig.3] [Fig.3] represents a perspective view of the elbow joint assistance device of [Fig.2], in its spread position;

[0013] [Fig.4] [Fig.4] represents a perspective view of the elbow joint assistance device of Figures 2 and 3, in its close-up position;

[0014] [Fig.5] [Fig.5] represents a schematic view of the exoskeleton according to one or other variant, provided with the means for applying the force and the means for adjusting the force according to one embodiment;

[0015] [Fig.6] [Fig.6] shows the force application means and the force adjustment means of [Fig.5] in a rest position;

[0016] [Fig.7] [Fig.7] represents the means of applying force and the means of adjusting the force of [Fig.5] in a first shoulder assistance position;

[0017] [Fig.8] [Fig.8] represents the means of applying force and the means adjustment of the force of [Fig.5] in a second shoulder assistance position. DETAILED DESCRIPTION OF THE INVENTION

[0018] It is first of all 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 be easily found by referring to another figure.

[0019] It is also specified that the figures essentially represent two embodiments of the subject of the invention but that there may be other embodiments which meet the definition of the invention.

[0020] The invention relates to an exoskeleton 1a, 1b for assisting the movements of at least one joint 2, 3 of the upper limb, and preferably an exoskeleton 1a, 1b for assisting the movements of the shoulder 2 and the elbow 3 intended to be installed on the upper limb of a wearer in order to accompany the antepulsion and abduction movements of the shoulder 2 and / or flexion of the elbow 3 (i.e. a movement of the part of the upper limb driven by the assisted joint 2, 3 towards the front of the wearer's body parallel to the sagittal plane). Of course, the wearer can equip both of his upper limbs with the exoskeleton 1a, 1b of the invention.

[0021] The exoskeleton 1a, 1b comprises on the one hand means for holding the torso (not shown) of a wearer of said exoskeleton 1a, 1b, and on the other hand a system 4a, 4b for supporting at least part of the upper limb in question, and in particular for supporting any movement of flexion of the elbow 3 and / or any movement of antepulsion and abduction of the shoulder 2, and / or optionally any movement of abduction, adduction, flexion and extension of the wrist 26 of the wearer equipped with said exoskeleton 1a, 1b.

[0022] By bust is meant the upper part of the body between the head and the waist of the wearer. As a corollary, the means for maintaining the exoskeleton 1a, 1b according to the invention do not cooperate with the parts of the wearer's body located at and below the waist.

[0023] With reference to figures 1 to 8, an exoskeleton 1a, 1b accompanying the shoulder joint 2, the elbow joint 3 and optionally the wrist joint 26 will now be described.

[0024] With reference to figures 1 and 2, the support system 4a, 4b of the exoskeleton 1a, 1b comprises a shoulder assistance device 6a - called scapular - and an elbow assistance device 6b - called ulnar.

[0025] The assistance device 6a, 6b of the joint 2, 3 in question comprises a pivot 7a, 7b which is designed to be fixed relative to the reference frame of the joint 2, 3 in question, which pivot 7a, 7b comprises an end 12a, 12b which is designed to bear against or opposite the front part of the joint 2, 3 of the wearer. The assistance device 6a, 6b further comprises a lever 8a, 8b movable in the frame of reference of the joint in question 2, 3, which lever 8a, 8b comprises a pivoting connection end 13a, 13b to the pivot 7a, 7b and an opposite end 9a, 9b provided to come to bear against the posterior - or rear - part of the limb part driven by the joint in question 2, 3. The bearing end 9a, 9b is movable between a position spaced from the bearing end 12a, 12b of the pivot 7a, 7b and a position close to the bearing end 12a, 12b of said pivot 7a, 7b.

[0026] Preferably, the exoskeleton 1a, 1b comprises a scapular type assistance device 6a provided to assist the shoulder 2 of the wearer, and an ulnar type assistance device 6b provided to assist the elbow 3 of the wearer.

[0027] Whatever the embodiment (exoskeleton 1a of [Fig. 1] or exoskeleton 1b of [Fig. 2]), the scapular assistance device 6a comprises: • a scapular pivot 7a whose support end 12a is designed to come into contact with the anterior deltoid of the wearer's shoulder 2; • a scapular lever 8a whose support end 13a is designed to come into contact with the posterior part of the wearer's arm, and • a scapular connecting portion 10a to the bust support means, which scapular connecting portion 10a is also pivotally connected to the scapular pivot 8a.

[0028] The ulnar assistance device 6b comprises: • an ulnar pivot 7b whose support end 12b is designed to come into contact with the bend of the wearer's elbow 3; • an ulnar lever 8b whose support end 13b is designed to come into contact with a posterior part of the wearer's forearm, and • an ulnar connecting portion 10b to the bust support means, which ulnar connecting portion 10b is also pivotally connected to the ulnar pivot 7b.

[0029] With reference to [Fig. 1] and according to a first embodiment, the connecting portion 10a, the lever 8a and the pivot 7a of the scapular assistance device 6a each comprise a connecting end and are pivotally connected to each other via these connecting ends to form a pivoting mechanical connection 13a.

[0030] The ulnar assistance device 6b of the exoskeleton 1a according to this first embodiment comprises a pivot 7b of substantially triangular shape comprising a first vertex from which the bearing end 12b of said pivot 7b projects, a second vertex 35b secured to the connecting portion 10b of said ulnar assistance device 6b, and a third vertex pivotally connected to one end 13b of the lever 8b, which lever 8b comprises the opposite bearing end 9b against the rear of the wearer's forearm.

[0031] The two assistance devices, respectively scapular 6a and ulnar 6b, are directly connected to each other: one end 36b of the ulnar connecting portion 10b is secured to the scapular pivot 7a: the exoskeleton 1a of the first embodiment is therefore formed from a rigid articulated frame.

[0032] Finally and optionally, the exoskeleton 1a according to this first embodiment may comprise an assistance device 6c for the wrist joint 26, making it possible to accompany an abduction or extension movement of the hand if the hand is in pronation. The assistance device 6c in this case comprises a structure identical to the ulnar assistance device 6b: the assistance device 6c of the wrist joint comprises a pivot 7c of substantially triangular shape comprising a first vertex from which a bearing end 12c of said pivot 7c projects against the trapezius of the carpus of the wearer's hand, a second vertex 35c secured to a connecting portion 10c of said assistance device 6c of the wrist, and a third vertex pivotally connected to one end 13c of a lever 8c, which lever 8c comprises an opposite bearing end 9c against the edge of the wearer's hand, i.e. against the abductor muscle of the little finger.This support end 9c assists the abduction movement of the hand).

[0033] The two assistance devices, respectively ulnar 6b ​​and wrist 6c, are directly connected to each other: one end 36c of the connecting portion 10c of the wrist assistance device 6c is secured to the ulnar pivot 7b.

[0034] With reference to [Fig.2] and according to a second preferred embodiment of the exoskeleton 1b, the two assistance devices, respectively scapular 6a and ulnar 6b, are connected to each other by a flexible frame 27, typically a hollow sheath made of flexible plastic material.

[0035] With reference to [Fig. 3] and 4, the ulnar assist device 6b in the second embodiment of [Fig. 2] comprises a pivot link connection 28b connecting the link ends of the pivot 7b, the lever 8b and the ulnar portion of connection 10b. The pivot 7b, the lever 8b and the connection portion 10b each comprise a flat plate 11b, 29b, 30b comprising the connection end 13b and an opposite end from which a support member 12b, 9b, 34b projects against the carrier.

[0036] The flat plate 30b of the pivot 7b comprises an ear 33b secured to its free end opposite its end for connection to the pivot connection 28b, which ear 33b comprises a through-orifice. In addition, the support member 12b of the pivot 7b forms the support end against the bend of the elbow 3 of the wearer.

[0037] The flat plate 11b of the lever 8b and the flat plate 29b of the connecting portion 10b each comprise a hollow tube 31b, 32b secured to the free end of each flat plate opposite the connecting end to the pivoting connection 28b. Furthermore, the bearing member 9b of the lever 8b forms the bearing end against the rear part of the wearer's forearm, and the bearing member 34b of the connecting portion 10b forms the bearing end against the rear part of the wearer's arm.

[0038] The structure of the scapular assistance device 6a is close to that of the ulnar assistance device 6b: the difference lies in the free end of the connecting portion 10a which does not include a projecting support member, but only a hollow tube (not shown) secured to said free end.

[0039] Finally and optionally not shown, the support system 4b may comprise a wrist joint assistance device, making it possible to accompany an abduction or extension movement of the hand. The assistance device in this case comprises a structure identical to the ulnar assistance device 6b, i.e. a pivot comprising a bearing end against the wrist joint, at the trapezius of the carpus of the wearer's hand, a lever comprising a bearing end against the abductor muscle of the little finger of the wearer, and a connecting portion connected to the lever 8b of the ulnar assistance device 6b by a flexible connection. The connecting portion comprises a bearing end against the back of the wearer's forearm, the respective opposite ends of the connecting portion of the pivot and the lever being connected together to pivot between a close position and a separated position.

[0040] According to the invention, the accompanying system 4a, 4b of the exoskeleton 1a, 1b comprises means 14 for applying an actuating force of the support end 9a, 9b, 9c of the lever 8a, 8b, 8c of each assistance device 6a, 6b, 6c - scapular, ulnar and where appropriate the wrist - towards their close position. Thus, the force applied to the lever 8a, 8b, 8c accompanies the antepulsion and abduction movement of the shoulder 2 and / or the flexion movement of the elbow 3 and / or the abduction movement of the wrist.

[0041] The means for applying the force 14 comprise means 16 for moving the lever 8a, 8b, 8c of the assistance device in question 6a, 6b, 6c, which connect the means for holding the bust at the lever 8a - 8c of the assistance device considered 6a - 6c. The means for applying the force 14 further comprise means for controlling the movement means 16.

[0042] More precisely, the displacement means 16 comprise at least one sheathed cable 5a, 5b, 5c connected on the one hand to a traction device 17 of the cable 5a - 5c forming part of the displacement means 16 and integral with the means for holding the bust, and on the other hand to the respective support ends 9a; 12a of the lever 8a and of the pivot 7a of the scapular assistance device 6a and / or to the respective support ends 9b; 12b of the lever 8b and of the pivot 7b of the ulnar assistance device 6b and / or to the respective support ends 9c; 12c of the lever 8c and of the pivot 7c of the wrist assistance device 6c.

[0043] With reference to Figures 1 and 5 and according to the first embodiment, a first scapular sheathed cable 5a successively connects the traction device 17, the support end 12a of the pivot 7a of the scapular assistance device 6a and the support end 9a of the lever 8a of said scapular assistance device 6a. A second ulnar sheathed cable 5b successively connects the traction device 17, the second vertex 35b of the pivot 7b of the ulnar assistance device 6b, the support end 12b of said pivot 7b and the support end 9b of the lever 8b of the ulnar assistance device 6b. Optionally, a third sheathed cable 5c successively connects the traction device 17, the second vertex 35c of the pivot 7c of the wrist assistance device 6c, the support end 12c of said pivot 7c and the support end 9c of the lever 8c of the wrist assistance device 6c.

[0044] With reference to Figures 2 and 5 and according to the second embodiment, a first scapular sheathed cable 5a successively connects the traction device 17, the support end 34a of the connecting portion 10a of the scapular assistance device 6a, the support end 1a of the pivot 7a of said scapular assistance device 6a and the support end 9a of the lever 8a of said scapular assistance device 6a. A second ulnar sheathed cable 5b successively connects the traction device 17, the support end 34b of the connecting portion 10b of the ulnar assistance device 6b, the support end 12b of the pivot 7b of the ulnar assistance device 6b and the support end 9b of the lever 8b of said ulnar assistance device 6b.Optionally, a third sheathed cable successively connects the traction device 17, the end of the connecting portion of the wrist assistance device, the support end of the pivot of the wrist assistance device and the support end of the lever of said wrist assistance device.

[0045] With reference to Figures 3 and 4, the sheathed cable 5b passes through the hollow tube 32b provided at the free end of the connecting portion 10b of the ulnar assistance device 6b, then passes through the ear 33b provided at the the bearing end 12b of the pivot 7b and finally through the hollow tube 31b provided at the bearing end 9b of the lever 8b of the ulnar assistance device. The scapular sheathed cable 5a interacts in the same way with the scapular assistance device 6a. Thus, a pull on the sheathed cable 5a, 5b, between the bearing end 9a, 9b of the lever 8a, 8b of the device considered 6a, 6b towards its close position.

[0046] According to the invention, the support system 4a, 4b also comprises means 15 for adjusting the actuating force of the lever 8a, 8b, 8c of the assistance device considered 6a - 6c as a function of the angular position of said lever 8a - 8c relative to a vertical direction. More precisely, the value of the force applied to the support end 9a - 9c of the lever considered 8a - 8c varies in the same direction as a variation of the angle between said lever 8a - 8c and the vertical direction.

[0047] It is understood, given that there are two additional adjacent angles between the lever considered 8a - 8c and the vertical direction, that the angle used to adjust the value of the force is the smaller of the two additional angles. The angle between the lever considered 8a - 8c and the vertical direction therefore varies between 0° (in the close position of the lever 8a - 8c) and 90° (in the separated position of the lever 8a - 8c).

[0048] For example, if the value of the angle between the lever considered 8a - 8c and the vertical direction is zero, then the force applied to the support end 9a - 9c of the lever 8a - 8c is zero. Conversely, if the value of the angle between the lever considered 8a - 8c and the vertical direction is 90°, then the value of the force applied is maximum. The force applied to the support end 9a - 9c of the lever considered 8a - 8c is also all the smaller as the angle between the lever 8a - 8c and the vertical direction is small. The angle between the lever considered 8a - 8c and the vertical direction is dependent on the added angles respectively of the trunk, the shoulder and the elbow with respect to the vertical.

[0049] According to a first embodiment not shown of said support system 4a, 4b, the means 15 for adjusting the applied force comprise means for measuring the angle of inclination of the joint considered relative to the vertical direction, typically and in a non-limiting manner and for each assistance device 6a - 6c, a goniometer secured to the lever 8a - 8c of the assistance device considered 6a - 6c or any other known device.

[0050] The control means comprise computer means for processing data and generating control signals to activate the traction device accordingly. The control means are therefore connected to the goniometers and to the traction device of the sheathed cables 5a - 5c.

[0051] As an example for the exoskeleton 1a, 1b of [Fig.1] or [Fig.2], the support system 4a, 4b comprises two goniometers installed on the levers 8a, 8b of each assistance device 6a, 6b respectively scapular and ulnar. Optionally, a third goniometer is installed on the lever 8c of the wrist assistance device 6c.

[0052] According to a second embodiment of said support system 4a, 4b, and with reference to [Fig. 5], the means 15 for adjusting the applied force comprise, for each assistance device 6a - 6c, a cam of elongated shape (a scapular cam 18a, an ulnar cam 18b and optionally a wrist cam), for example elliptical, secured to the lever 8a - 8c of said articulation device 6a - 6c. The cam 18a, 18b comprises at one end along the major axis a hooking projection 25a, 25b (see FIGS. 6 to 8) of a control cable 19a, 19b, which control cable 19a, 19b is connected to the traction device 17.

[0053] The means for adjusting the applied force 15 also comprise a coxal cam 18d of the same shape and also provided with a hooking projection 25d of a control cable 19d arranged at one end along the major axis of said cam 18d. This coxal cam 18d is integral with a dorso-costal belt (not shown) configured to be worn by the wearer around his waist.

[0054] The adjustment means 15 further comprise, for each assistance device 6a - 6c, a plurality of devices 21 - 24 nested within each other, in the manner of Russian dolls. These devices 21 - 24 are, for example and in a non-limiting manner, boxes. The set of boxes 20 comprises at least four nested boxes: • An external box 21 forming a housing for the adjustment means 15, secured to the bust support means and comprising a bottom wall comprising three orifices through which pass respectively the control cables 19a, 19b, 19d of the coxal cam 18d, the scapular cam 18a and the ulnar cam 18b; • A first internal box called coxal 22 capable of sliding along the internal walls of the external box 21 and comprising a bottom wall having two orifices through which pass respectively the control cables 19a, 19b of the scapular cam 18a and the ulnar cam 18b. Furthermore, the control cable 19d of the coxal cam 18d is secured to the bottom of the first internal coxal box 22; • A second internal box called ulnar box 23 capable of sliding along the internal walls of the coxal box 22 and comprising a bottom wall having an orifice through which the control cable 19a of the scapular cam 18a passes. Furthermore, the control cable 19b of the ulnar cam 18b is secured to the bottom of the second internal ulnar box 23, and • A third internal box called scapular 24 capable of sliding along the internal walls of the ulnar box 23 and comprising a bottom wall to which the control cable 19b of the scapular cam 18b is secured.

[0055] Optionally, the set of boxes 20 may comprise a fourth internal box capable of sliding along the internal walls of the scapular box 24 and comprising a bottom wall to which the control cable of the wrist cam is secured. In this case, the other internal boxes 22 - 24 and the external box 21 comprise an additional orifice for the passage of the control cable of the wrist cam.

[0056] It is understood that the order of the internal boxes 22 - 24 is not fixed and can change without departing from the scope of the invention.

[0057] The last internal box 24 finally comprises a head wall opposite its bottom wall, to which is connected the sheathed cable 5a - 5c for applying the force to the lever 8a - 8c of the articulation device considered 6a - 6c: this last internal box 24 and the associated cable 5a - 5c therefore form the traction device 17 in this embodiment.

[0058] The set of boxes 20 is therefore movable at least between two positions, respectively an extended position where all the boxes are outside the adjacent box (the length of the set of boxes 20 is then maximum and equal to the sum of the lengths of the boxes 21 to 24, see [Fig.6]) and a contracted position in which all the boxes are completely nested within each other (the length of the set is then minimum and equal to the length of the external box 20).

[0059] Those skilled in the art will understand that, for a support system 4a, 4b comprising two assistance devices, respectively scapular 6a and ulnar 6b, the adjustment means 15 comprise two sets of nested boxes 20 for assistance of the equipped upper limb. If the wrist is also assisted, the adjustment means 15 comprise three sets of nested boxes 20 for assistance of the equipped upper limb. Finally, the adjustment means 15 can comprise up to six sets of nested boxes 20 for assistance of the two equipped upper limbs.

[0060] A method of assisting the upper limb of the wearer equipped with the exoskeleton 1a, 1b of the invention will now be described.

[0061] In the case where the adjustment means 15 comprise goniometers, the latter measure in real time the minimum angle between the lever 8a - 8c of each assistance device 6a - 6c and the vertical direction. This data is sent to the control means which in return generate an adjustment signal to the traction device 17. The traction device 17 then controls the appropriate traction by winding or unwinding the sheathed cable 5a - 5c connected to the lever 8a - 8c of the device assistance considered 6a - 6c. The assistance force is adjusted electronically in real time in this embodiment.

[0062] In the case where the adjustment means 15 comprise the sets of nested boxes 20 and the cams 18a, 18b, 18d, the position of the bust, the shoulder 2 and the elbow 3 directly influence the orientation of the cams 18, 18b, 18d and the position of the nested boxes of each set 20 relative to each other, which ultimately has the effect of varying the traction force of the sheathed cable 5a - 5c on the support end 9a - 9c of the lever 8a - 8c of the assistance device considered 6a - 6c.

[0063] To better visualize the adjustment of the accompanying force, three particular situations will be presented with reference to figures 6 to 8.

[0064] Each of these figures 6 to 8 represents the three coxal 18d, scapular 18a and ulnar 18b cams of the wearer whose control cables 19a, 19b, 19d are connected to a set of boxes 20 for adjusting the force exerted at the level of the support end 9a, 9b of the lever 8a, 8b of one of the scapular 6a or ulnar 6b ​​assistance devices.

[0065] According to [Fig.6], the wearer is standing, arms along the body, elbow 3 extended. The angle between the vertical direction and each lever 8a, 8b of the assistance devices 6a, 6b is zero, and each set of boxes 20 (one for each assistance device 6a, 6b) is in its extended position. In other words, the actuating cable 5a, 5b of the lever 8a, 8b of the assistance device considered 6a, 6b is also relaxed and does not exert any force on the support end 9a, 9b of said lever 8a, 8b.

[0066] According to [Fig.7], the wearer keeps the elbow 3 in extension and makes a movement of antepulsion of the shoulder 2 which ends up at 45°. The scapular cam 18a pivots accordingly by the same angle, and exerts traction on the internal scapular box 24 which enters the adjacent box 23. This causes traction on the cable 5a, 5b connected to the lever 8a, 8b of the assistance device considered 6a, 6b (scapular and / or ulnar), and causes a force accompanying the antepulsion of the shoulder 2 and / or flexion of the elbow 3.

[0067] According to [Fig.8], the wearer keeps his upper limb in the same position and flexes the torso by an angle of 45°. This has the effect of reducing the angle between the vertical direction and the lever 8a, 8b of the assistance device considered 6a, 6b, and therefore of reducing the assistance force.

[0068] In fact, the flexion of the wearer's torso causes the lengthening of the control cable 19d connected to the coxal cam 18d, which has the effect of moving the internal coxal box 22 away from the adjacent box 21: this has the effect of lengthening the sheathed cable 5a, 5b for actuating the lever 8a, 8b of the assistance device in question 6a, 6b, and therefore of reducing the assistance force at the level of the support end 9a, 9b of said lever 8a, 8b.

[0069] The exoskeleton 1a, 1b of the invention allows adjustment of the force not only as a function of the position of the joint 2, 3 to be assisted, but also as a function of the position of the other joints 2, 3 of the upper limb and the pelvis. The assistance force is therefore adjusted as best as possible relative to the overall position of the wearer's body, which makes the ergonomics of the exoskeleton 1a, 1b of the invention optimal. Furthermore, the points of restraint on the arm, forearm, waist and bust are reduced to a minimum, which increases the wearer's comfort.

Claims

Claims

1. Exoskeleton (1a, 1b) for assisting at least one articulation (2, 3) of an upper limb of a wearer comprising means for holding said wearer to the bust, and a system (4a, 4b) for accompanying at least one movement, towards the front of the wearer's body parallel to a sagittal plane of said body and / or laterally to the wearer's body parallel to a frontal plane of said body, of a part of the limb driven by the articulation (2, 3), which accompanying system (4a, 4b) comprises: • a device for assisting the articulation (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) comprising a bearing end on the front part of the articulation (12a, 12b, 12c), and a lever (8a, 8b, 8c) comprising a pivoting connection end (13a, 13b, 13c) to the pivot (7a, 7b, 7c) and an opposite end bearing on the posterior part of the member part (9a, 9b, 9c) which is movable between a position spaced from the bearing end (12a, 12b,12c) of the pivot (7a, 7b, 7c) and a close position of said bearing end (12a, 12b, 12c) of the pivot (7a, 7b, 7c); • means for applying an actuating force (14) from the bearing end (13a, 13b, 13c) of the lever (8a, 8b, 8c) towards its close position, and • means for adjusting (15) said actuating force as a function of the angular position of the lever (8a, 8b, 8c) relative to a vertical axis.,

2. Exoskeleton (1a, 1b) according to the preceding claim, characterized in that the actuating force adjustment means (15) are configured to vary the value of the actuating force in the same direction as a variation in the value of the angle between the lever (8a, 8b, 8c) and the vertical axis.

3. Exoskeleton (la, 1b) according to claim 1 or 2 characterized in that the assistance device (6a) is of the scapular type adapted to assist the shoulder (2) of the wearer and comprises: • a scapular pivot (7a) comprising a support end (12a) against the anterior deltoid of the wearer; • a scapular lever (8a) comprising a support end (9a) against a posterior part of the arm of the wearer, and • a scapular portion for connection to the bust support means (10a), which scapular connection portion (10a) is pivotally connected to the scapular support pivot (7a).

4. Exoskeleton (1a, 1b) according to claim 1 or 2, characterized in that the assistance device (6b) is of the ulnar type adapted to assist the elbow (3) of the wearer and comprises: • an ulnar pivot (7b) comprising a support end (12b) against the bend of the wearer's elbow; • an ulnar lever (8b) comprising a support end (9b) against a posterior part of the wearer's forearm, and • an ulnar portion for connection to the bust support means (10b), which ulnar connecting portion (10b) is pivotally connected to the ulnar support pivot (7b).

5. Exoskeleton (1a, 1b) according to claims 3 and 4, characterized in that the accompanying system (4a, 4b) comprises the scapular assistance device (6a) and the ulnar assistance device (6b), and in that the ulnar connecting portion (10b) is connected to the scapular lever (8a).

6. Exoskeleton (1a, 1b) according to any one of the preceding claims, characterized in that the means for applying the actuating force (14) comprise means for moving (16) the support end (9a, 9b, 9c) of the lever (8a, 8b, 8c) of the assistance device in question (6a, 6b, 6c) towards its close position, which moving means (16) connect the means for holding the bust to said assistance device (6a, 6b, 6c), and means for controlling said moving means.

7. Exoskeleton (1a, 1b) according to the preceding claim, characterized in that the displacement means (16) comprise at least one sheathed cable (5a, 5b, 5c) connecting together the support end of the lever (9a, 9b, 9c) and the support pivot (7a, 7b, 7c) of the assistance device in question (6a, 6b, 6c), and a traction device (17) of the sheathed cable (5a, 5b, 5c) secured to the bust support means and controlled by the control means.

8. Exoskeleton (1a, 1b) according to the preceding claim, characterized in that the means for adjusting the applied force (15) comprise means for measuring the angle of inclination of the lever (8a, 8b, 8c) of the assistance device in question (6a, 6b, 6c) which are connected to the control means which control the traction device (17) as a function of the measurement of said angle of inclination.

9. Exoskeleton (1a, 1b) according to claim 7, characterized in that the adjustment means (15) comprise a cam (18a, 18b) integral with a body (11a, 11b, 11c) of the lever (8a, 8b, 8c) of the assistance device in question (6a, 6b, 6c), and a control cable (19a, 19b) of the traction device (17) connected to said cam (18a, 18b, 18c).

10. Exoskeleton (1a, 1b) according to the preceding claim, characterized in that it comprises a dorso-costal belt, in that the adjustment means (15) comprise a coxal cam (18d) integral with the dorso-costal belt, and a control cable (19d) of the traction device (17) connected to said coxal cam (18d).

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