Exoskeleton providing assistance to at least one joint of an upper limb.
The exoskeleton addresses bulkiness and ergonomics issues by using pivot and lever systems with adjustable force, ensuring optimal assistance and comfort for upper limb movements.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2024-04-17
- Publication Date
- 2026-03-13
AI Technical Summary
Existing exoskeletons for upper limbs are bulky, create pressure points, and lack ergonomics, particularly when assisting movements involving heavy loads.
An exoskeleton design with pivot and lever systems that assist shoulder and elbow movements, featuring adjustable actuation force based on angular position, secured to the torso with minimal pressure points, and adjustable force via sheathed cables and cams.
Provides a compact, ergonomic solution that optimally adjusts assistance force based on body position, minimizing pressure points and enhancing user comfort.
Smart Images
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Abstract
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 physical assistance systems for human body movements, and more particularly within the field of exoskeletons for physical assistance of upper limb movements of a user wearing such an exoskeleton. PRIOR ART AND DISADVANTAGES OF PRIOR ART
[0002] In many situations, mostly related to professional activity, individuals regularly have to move heavy loads from one point to another. These repeated movements weaken the joints of the person carrying the load, and in particular their ankles.
[0003] Exoskeletons are known to accompany the movements of the arms and / or forearms, and classically include means of connection to the upper limbs, means of maintaining the exoskeleton to the torso, and means of accompanying the movements of antepulsion 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, thus accompanying the carrier lifting a load.
[0005] One drawback of these prior art systems lies in their attachment, as they are bulky and create pressure points around the wearer's waist and / or chest. Furthermore, these support systems may lack ergonomics. OBJECTIVE OF THE INVENTION
[0006] The invention therefore aims to provide an exoskeleton for assisting the movements of at least part of an upper limb which is simple to install, compact and ergonomic. Description 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 securing the wearer to the torso, and a system for assisting at least one movement, forward 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 joint, which support system comprises: • a joint assistance device comprising at least one pivot having a bearing end on the anterior part of the joint, and a lever having a pivoting connecting end to the pivot and an opposite bearing end on the posterior part of the limb part which is movable between a position away from the bearing end of the pivot and a position close to said bearing end of the pivot; • means for applying an actuation force from the lever's support end towards its nearer position, and • means of adjusting said actuation force according to the angular position of the lever relative to a vertical axis.
[0008] The exoskeleton may also include the following optional features considered individually or in all possible technical combinations: • The support system includes means for adjusting the value of the actuation force in the same direction as a variation in the value of the angle between the lever and the vertical axis. • The support device is of the scapular type, adapted to assist the wearer's shoulder and includes: • a scapular pivot including a support end against the anterior deltoid of the wearer; • a scapular lever comprising a support end against a posterior part of the wearer's arm, and • a scapular portion connecting to the means of support to the torso, which scapular portion connecting is pivotally connected to the scapular pivot of support. • The support device is of the cubital type, adapted to assist the wearer's elbow, and includes: • a cubital pivot comprising a support end against the crease of the wearer's elbow; • an ulnar lever comprising a support end against a posterior part of the wearer's forearm, and • a cubital portion of connection to the means of support to the torso, which cubital portion of connection is pivotally connected to the cubital pivot of support. • The support system includes the scapular support device and the ulnar support device, the ulnar portion of which is connected to the scapular lever. • The means for applying the actuation force include 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 of holding the torso to said assistance device, and means of controlling said means of movement. • The means of movement include at least one sheathed cable connecting the support end of the lever and the support pivot of the assistance device in question, and a sheathed cable traction device attached to the means of restraint to the torso and controlled by the control means. • The means for adjusting the applied force include 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 according to the measurement of said angle of inclination. • The adjustment means include a cam attached 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 includes a dorso-costal belt, in that the adjustment means include a coxal cam attached to the dorso-costal belt, and a control cable for the traction device connected to said coxal cam. PRESENTATION OF THE FIGURES
[0009] Other features and advantages of the invention will become clear from the description given below, by way of example and not limitation, with reference to the accompanying figures, among which:
[0010] [Fig.1] Fig.1 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] The [Fig.3] represents a perspective view of the elbow joint assistance device of the [Fig.2], in its spread-away 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] The [Fig.5] represents a schematic view of the exoskeleton according to one or the other variant, equipped with the means for applying the force and the means for adjusting the force according to one embodiment;
[0015] [Fig.6] The [Fig.6] represents the means of applying the force and the means of adjusting the force of the [Fig.5] in a rest position;
[0016] [Fig.7] Fig.7 represents the means of applying force and the means adjusting the force of the [Fig.5] in a first shoulder assistance position;
[0017] [Fig.8] Fig.8 represents the means of applying force and the means adjusting the force of the [Fig.5] in a second shoulder assistance position. DETAILED DESCRIPTION OF THE INVENTION
[0018] 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.
[0019] It is also specified that the figures essentially represent two embodiments of the object of the invention, but that there may be other embodiments which meet the definition of the invention.
[0020] The invention relates to an exoskeleton la, 1b for assisting the movements of at least one joint 2, 3 of the upper limb, and preferably an exoskeleton la, 1b for assisting the movements of the shoulder 2 and elbow 3, designed to be installed on the upper limb of a wearer in order to assist the antepulsion and abduction movements of the shoulder 2 and / or the 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 upper limbs with the exoskeleton la, 1b of the invention.
[0021] The exoskeleton la, 1b comprises on the one hand means for maintaining the torso (not shown) of a wearer of said exoskeleton la, 1b, and on the other hand a support system 4a, 4b of at least a part of the upper limb concerned, and in particular to support any flexion movement of the elbow 3 and / or any antepulsion and abduction movement of the shoulder 2, and / or optionally any abduction, adduction, flexion and extension movement of the wrist 26 of the wearer equipped with said exoskeleton la, 1b.
[0022] The term "torso" refers to the upper part of the body between the head and the waist of the wearer. Consequently, the means for securing 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 la, 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 la, 1b includes a shoulder assistance device 6a - called scapular - and an elbow assistance device 6b - called ulnar.
[0025] The assistance device 6a, 6b of the joint considered 2, 3 includes a pivot 7a, 7b which is intended to be fixed relative to the reference frame of the joint considered 2, 3, which pivot 7a, 7b includes an end 12a, 12b which is intended to come to rest against or opposite the anterior part of the joint 2, 3 of the wearer. The assistance device 6a, 6b further includes a lever 8a, 8b movable in the reference frame of the joint considered 2, 3, which lever 8a, 8b includes a pivoting connecting end 13a, 13b to the pivot 7a, 7b and an opposite end 9a, 9b provided to bear against the posterior - or rear - part of the limb driven by the joint considered 2, 3. The bearing end 9a, 9b is movable between a position away 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 la, 1b comprises a scapular type assistance device 6a intended to assist the shoulder 2 of the wearer, and a cubital type assistance device 6b intended to assist the elbow 3 of the wearer.
[0027] Regardless of 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 to rest against the anterior deltoid of the shoulder 2 of the wearer; • a scapular lever 8a whose support end 13a is designed to bear against the posterior part of the wearer's arm, and • a scapular connecting portion 10a to the means of support to the bust, which scapular connecting portion 10a is also connected at pivot to the scapular pivot 8a.
[0028] The cubital assistance device 6b comprises: • a cubital pivot 7b whose support end 12b is designed to come to rest against the bend of the wearer's elbow 3; • an ulnar lever 8b whose support end 13b is designed to bear against a posterior part of the wearer's forearm, and • a cubital connecting portion 10b to the means of support to the bust, which cubital connecting portion 10b is also connected by pivoting to the cubital 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 cubital assistance device 6b of the exoskeleton according to this first embodiment comprises a pivot 7b of substantially triangular shape having a first vertex from which the support end 12b of said pivot 7b protrudes, a second vertex 35b integral with the connecting portion 10b of said cubital assistance device 6b, and a third vertex connected by pivoting to an end 13b of the lever 8b, which lever 8b comprises the opposite support end 9b against the rear of the wearer's forearm.
[0031] The two scapular assistance devices 6a and ulnar 6b are directly connected to each other: one end 36b of the ulnar connecting portion 10b is integral with the scapular pivot 7a: the exoskeleton la of the first embodiment is therefore formed of a rigid articulated frame.
[0032] Finally and optionally, the exoskeleton according to this first embodiment may include an assistance device 6c for the wrist joint 26, allowing 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 having a first vertex from which a bearing end 12c of said pivot 7c protrudes against the trapezius of the carpus of the wearer's hand, a second vertex 35c integral with a connecting portion 10c of said assistance device 6c of the wrist, and a third vertex connected by pivoting to an end 13c of a lever 8c, which lever 8c comprises an opposite bearing end 9c against the edge of the wearer's hand, that is to say 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 linking portion 10c of the wrist assistance device 6c is integral with the ulnar pivot 7b.
[0034] With reference to [Fig.2] and according to a second preferred embodiment of the exoskeleton 1b, the two scapular assistance devices 6a and ulnar 6b respectively 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 [Fig. 4], the ulnar assistance device 6b in the second embodiment of [Fig. 2] comprises a pivoting linkage connection 28b connecting the linkage ends of the pivot 7b, the lever 8b and the ulnar portion of connection 10b. The pivot 7b, the lever 8b and the portion of connection 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 protrudes against the carrier.
[0036] The flat plate 30b of the pivot 7b includes a lug 33b integral at its free end opposite its connecting end to the pivoting connection 28b, which lug 33b includes a through-hole. Furthermore, the support member 12b of the pivot 7b forms the bearing end against the elbow crease 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 integral with the free end of each flat plate opposite the connecting end to the pivoting connection 28b. In addition, the support member 9b of the lever 8b forms the support end against the posterior part of the wearer's forearm, and the support member 34b of the connecting portion 10b forms the support end against the posterior 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 have a protruding support member, but only a hollow tube (not shown) attached to said free end.
[0039] Finally, and optionally not shown, the support system 4b may include a wrist joint assistance device, enabling support for abduction or extension of the hand. In this case, the assistance device comprises a structure identical to the ulnar assistance device 6b, namely a pivot comprising a bearing end against the wrist joint at the level of the trapezius muscle of the wearer's hand, a lever comprising a bearing end against the abductor digiti minimi muscle of the wearer, and a connecting portion linked 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 pivotally connected between a close and a wide position.
[0040] According to the invention, the support system 4a, 4b of the exoskeleton 1a, 1b comprises means 14 for applying an actuation force to the support end 9a, 9b, 9c of the lever 8a, 8b, 8c of each assistance device 6a, 6b, 6c – scapular, ulnar and, where applicable, wrist – towards their closer 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 force 14 include means for displacing the lever 8a, 8b, 8c of the assistance device considered 6a, 6b, 6c, which connect the means of maintaining the torso at the lever 8a - 8c of the assistance device considered 6a - 6c. The means of applying the force 14 further include means of controlling the means of movement 16.
[0042] More specifically, the means of movement 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 means of movement 16 and attached to the means of support to the torso, and on the other hand to the respective support ends 9a; 12a of the lever 8a and the pivot 7a of the scapular assistance device 6a and / or to the respective support ends 9b; 12b of the lever 8b and the pivot 7b of the ulnar assistance device 6b and / or to the respective support ends 9c; 12c of the lever 8c and 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 sheathed scapular 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 sheathed ulnar 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 sheathed scapular cable 5a successively connects the traction device 17, the support end 34a of the link 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 sheathed ulnar cable 5b successively connects the traction device 17, the support end 34b of the link 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 link 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 formed at the free end of the connecting portion 10b of the ulnar support device 6b, then passes through the ear 33b formed at the the support end 12b of the pivot 7b and finally through the hollow tube 31b formed at the support end 9b of the lever 8b of the ulnar support device. The sheathed scapular cable 5a interacts in the same way with the scapular support device 6a. Thus, a pull on the sheathed cable 5a, 5b, between the support end 9a, 9b of the lever 8a, 8b of the device in question 6a, 6b, moves it towards its nearer position.
[0046] According to the invention, the support system 4a, 4b also includes means 15 for adjusting the actuation force of the lever 8a, 8b, 8c of the assistance device 6a-6c as a function of the angular position of said lever 8a-8c with respect to a vertical direction. More specifically, the value of the force applied to the support end 9a-9c of the lever 8a-8c varies in the same direction as a variation in the angle between said lever 8a-8c and the vertical direction.
[0047] It is understood that, given that there are two additional adjacent angles between the lever in question 8a - 8c and the vertical direction, the angle used to adjust the value of the force is the smaller of the two additional angles. The angle between the lever in question 8a - 8c and the vertical direction therefore varies between 0° (in the close position of the lever 8a - 8c) and 90° (in the far position of the lever 8a - 8c).
[0048] For example, if the angle between the lever in question 8a - 8c and the vertical direction is zero, then the force applied to the fulcrum end 9a - 9c of the lever 8a - 8c is zero. Conversely, if the angle between the lever in question 8a - 8c and the vertical direction is 90°, then the applied force is at its maximum. Furthermore, the force applied to the fulcrum end 9a - 9c of the lever in question 8a - 8c is lower the smaller the angle between the lever 8a - 8c and the vertical direction. The angle between the lever in question 8a - 8c and the vertical direction depends on the sum of the angles of the torso, shoulder, and elbow with respect to the vertical.
[0049] According to a first embodiment not shown of said support system 4a, 4b, the means for adjusting the applied force 15 include means for measuring the angle of inclination of the joint considered with respect to the vertical direction, typically and without limitation and for each assistance device 6a - 6c, a goniometer attached to the lever 8a - 8c of the assistance device considered 6a - 6c or any other known device.
[0050] The control means include computer means for data processing and generating control signals to activate the traction device accordingly. The control means are therefore connected to the goniometers and the traction device for the sheathed cables 5a - 5c.
[0051] By way of 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, an elongated cam (a scapular cam 18a, an ulnar cam 18b and optionally a wrist cam), for example elliptical, integral with the lever 8a-8c of said articulation device 6a-6c. The cam 18a, 18b comprises at one end along the major axis a projection for attaching 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 include a hip cam 18d of the same shape and also provided with a projection for attaching a control cable 19d at one end along the major axis of said cam 18d. This hip 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 include, for each assistance device 6a-6c, a plurality of devices 21-24 nested one inside the other, like Russian dolls. These devices 21-24 are, for example, but not limited to, boxes. The set of boxes 20 comprises at least four nested boxes: • An external box 21 forming a housing for the adjustment means 15, attached to the means for holding the torso and comprising a bottom wall having three openings 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 adapted to slide 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 of the ulnar cam 18b. Furthermore, the control cable 19d of the coxal cam 18d is integral with the bottom of the first internal coxal box 22; • A second internal box, called the cubital box 23, adapted to slide along the internal walls of the coxal box 22 and comprising a bottom wall having an opening through which passes the control cable 19a of the scapular cam 18a. Furthermore, the control cable 19b of the cubital cam 18b is fixed to the bottom of the second internal cubital box 23, and • A third internal box, called the scapular box 24, adapted to slide 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 attached.
[0055] Optionally, the set of boxes 20 may include a fourth internal box adapted to slide along the internal walls of the scapular box 24 and comprising a bottom wall to which the control cable of the wrist cam is attached. In this case, the other internal boxes 22-24 and the external box 21 include an additional opening 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 going out of the scope of the invention.
[0057] The last internal box 24 finally includes a head wall opposite its bottom wall, to which is connected the sheathed cable 5a - 5c of application of the force on 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 mobile 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 totally 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 scapular (6a) and ulnar (6b) assistance devices respectively, the adjustment means 15 comprise two sets of nested boxes 20 for assisting the equipped upper limb. If the wrist is also assisted, the adjustment means 15 comprise three sets of nested boxes 20 for assisting the equipped upper limb. Finally, the adjustment means 15 can comprise up to six sets of nested boxes 20 for assisting both equipped upper limbs.
[0060] A method for assisting the upper limb of the wearer equipped with the exoskeleton la, 1b of the invention will now be described.
[0061] Where the adjustment means 15 include goniometers, these 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 turn 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 include the sets of nested boxes 20 and the cams 18a, 18b, 18d, the position of the torso, shoulder 2 and elbow 3 directly influences 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 tensile 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 cams 18d, scapular cam 18a and ulnar cam 18b of the carrier 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 assistance devices 6a or ulnar cam 6b.
[0065] According to [Fig. 6], the wearer is standing with arms at their sides and 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 in question 6a, 6b is also slack and exerts no force on the support end 9a, 9b of said lever 8a, 8b.
[0066] According to [Fig. 7], the wearer keeps the elbow 3 extended and performs an antepulsion movement of the shoulder 2, which ends up at 45°. The scapular cam 18a pivots accordingly through the same angle and exerts a traction on the internal scapular box 24, which moves into the adjacent box 23. This causes a 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 his torso at an angle of 45°. This has the effect of decreasing the angle between the vertical direction and the lever 8a, 8b of the assistance device considered 6a, 6b, and therefore of decreasing the assistance force.
[0068] Indeed, the bending of the wearer's torso causes the control cable 19d connected to the hip cam 18d to lengthen, which has the effect of moving the inner hip box 22 away from the adjacent box 21: this has the effect of lengthening the sheathed cable 5a, 5b of the actuation of the lever 8a, 8b of the assistance device considered 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 for force adjustment not only according to the position of the joint 2, 3 to be assisted, but also according to the position of the other joints 2, 3 of the upper limb and the pelvis. The assistance force is therefore optimally adjusted relative to the overall body position of the wearer, which makes the ergonomics of the exoskeleton 1a, 1b of the invention optimal. Furthermore, the pressure points on the arm, forearm, waist, and torso are minimized, which increases the wearer's comfort.
Claims
Demands
1. Exoskeleton (1a, 1b) for assisting at least one joint (2, 3) of an upper limb of a wearer, comprising means for restraint to the wearer's torso, and a support system (4a, 4b) for at least one movement, forward of the wearer's body parallel to a sagittal plane of the body and / or laterally of the wearer's body parallel to a frontal plane of the body, of a limb part driven by the joint (2, 3), which support system (4a, 4b) comprises: • a joint assistance device (6a, 6b, 6c) comprising at least one pivot (7a, 7b, 7c) having a bearing end on the anterior part of the joint (12a, 12b, 12c), and a lever (8a, 8b, 8c) having a pivoting connecting end (13a, 13b, 13c) at the pivot (7a, 7b, 7c) and an opposite end of support on the posterior part of the limb part (9a, 9b, 9c) which is mobile between a position away from the end of support (12a, 12b,12c) of the pivot (7a, 7b, 7c) and a position close to said support end (12a, 12b, 12c) of the pivot (7a, 7b, 7c); • means for applying an actuation force (14) from the support end (13a, 13b, 13c) of the lever (8a, 8b, 8c) towards its close position, and • means for adjusting said actuation force as a function of the angular position of the lever (8a, 8b, 8c) with respect to a vertical axis.
2. Exoskeleton (1a, 1b) according to the preceding claim, characterized in that the means for adjusting the actuation force (15) are configured to vary the value of the actuation 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 (1a, 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) including a support end (12a) against the anterior deltoid of the wearer; • a scapular lever (8a) including a support end (9a) against a posterior part of the wearer's arm, and • a scapular portion of connection to the means of support to the torso (10a), which scapular portion of connection (10a) is connected by pivoting to the scapular pivot of support (7a).
4. Exoskeleton (la, 1b) according to claim 1 or 2, characterized in that the assistance device (6b) is of the cubital type adapted to assist the elbow (3) of the wearer and comprises: • an cubital pivot (7b) including a support end (12b) against the crease of the wearer's elbow; • an cubital lever (8b) including a support end (9b) against a posterior part of the wearer's forearm, and • an cubital portion for connection to the means for restraining to the torso (10b), which cubital portion for connection (10b) is pivotally connected to the cubital support pivot (7b).
5. Exoskeleton (la, 1b) according to claims 3 and 4, characterized in that the support 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 actuation force (14) comprise means for moving (16) the support end (9a, 9b, 9c) of the lever (8a, 8b, 8c) of the assistance device considered (6a, 6b, 6c) towards its close position, which means for moving (16) connect the torso restraint means to said assistance device (6a, 6b, 6c), and means for controlling said means for moving.
7. Exoskeleton (la, 1b) according to the preceding claim, characterized in that the means of movement (16) comprise at least one sheathed cable (5a, 5b, 5c) connecting the support end of the lever (9a, 9b, 9c) and the support pivot (7a,7b, 7c) of the assistance device considered (6a, 6b, 6c), and a traction device (17) for the sheathed cable (5a, 5b, 5c) attached to the means of restraint to the torso 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 considered (6a, 6b, 6c) which are connected to the control means which control the traction device (17) according to the measurement of said angle of inclination.
9. Exoskeleton (la, 1b) according to claim 7, characterized in that the adjustment means (15) comprise a cam (18a, 18b) integral with a body (lia, 11b, 11c) of the lever (8a, 8b, 8c) of the assistance device considered (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 hip cam (18d) integral with the dorso-costal belt, and a control cable (19d) of the traction device (17) connected to said hip cam (18d).