Walking aid device incorporating motion sensors and an electronic circuit board

Abstract

The invention relates to a walking aid device (1) for an individual comprising a frame (10), a base (20) movable at least vertically relative to said frame (10) between a low sitting position and a high walking position, and a device (30) for modifying the vertical elevation position of the base (20), characterized in that it is equipped with at least one sensor (60) measuring the displacement of the device (1) during the individual's walking to determine a distance traveled, and a sensor (70) measuring a difference in position of at least one moving limb of the individual to determine at least one data point among the amplitude of swing movement of said limb, a step rate, and gait asymmetry, said sensors (60, 70) being coupled to determine step length, step length asymmetry, or walking speed. Figure for the abstract: Fig. 1

Description

Title of the invention: Walking aid device comprising displacement sensors and an electronic board. Technical field of the invention

[0001] The invention relates to the field of technical walking aids such as wheelchairs, particularly for persons with reduced mobility. More specifically, the invention relates to a device that allows an individual (a patient in rehabilitation, for example), by providing support at the level of their buttocks and groin, to facilitate their movement and rehabilitation when walking in a standing position, but also to easily move from a seated to a standing position, and vice versa. Previous technique

[0002] Modern medicine increasingly relies on therapeutic adherence to treatments (are they followed, taken correctly, what is the dose-response relationship for which types of diseases, etc.) for greater effectiveness. This is especially true in the field of functional rehabilitation, where a multitude of parameters come into play and where theoretical models and the possibilities for blind / double-blind studies are limited, if not impossible. Moreover, for this type of care, patient motivation is an important element. Indeed, allowing patients to monitor their progress and providing them with daily information on the evolution of a program pre-established by the care and rehabilitation staff can have a direct impact on motivation and ultimately on the success of the treatment.

[0003] Patient rehabilitation pathways are often complex to implement, difficult to personalize, and, above all, challenging to follow correctly over periods of several weeks, months, or even years. However, effective rehabilitation requires suitable equipment, an appropriate method, qualified practitioners, and also good means of monitoring and adapting the rehabilitation to ensure it is as efficient and short as possible.

[0004] It has thus been proven that monitoring adherence to therapies and the effective use of prescribed assistive devices is a reliable and less costly way to ensure treatment compliance. Numerous studies tend to show that monitoring patients and their physical activity, as well as their involvement / motivation, and even that of their families, allows for better prescribing and adaptation of treatments for various pathologies.

[0005] Or usually, patients in their wheelchairs, whether in nursing homes or care centers, have one rehabilitation session per day (for the luckiest ones) or per week. Outside of this timeframe, there is no precise, reliable, or thorough monitoring of the patient's progress. Rehabilitation may be continued by the patient, but poorly executed. Or it may not be performed at all outside of the prescribed sessions. Furthermore, even if the patient wishes, they often have no opportunity to engage in self-rehabilitation. Consequently, for some patients, rehabilitation time is limited to standing time. Too often, the patient is simply confined to bed or a wheelchair between sessions and has no opportunity to stand.

[0006] There is therefore a need for monitoring of patients who use a walking aid device such as a wheelchair, preferably transparent to the individual, reliable, easy to use and easily operated by healthcare personnel. Presentation of the invention

[0007] The present invention aims to remedy these drawbacks with a totally innovative approach allowing to follow in a qualitative and quantitative manner the movements and progress of a rehabilitation.

[0008] To this end, according to a first aspect, the present invention relates to a walking aid device for an individual, comprising at least: - a mechanical assembly forming a chassis, - a base intended to be in contact with the user and movable at least vertically relative to said chassis between a first low seating position and a second high walking position, - a device for modifying the vertical elevation position of the mobile base at least between its first high position and its second low position, and vice versa, by movement along at least one translation between said positions, characterized in that it is equipped with an embedded system comprising: - a set of motion sensors comprising at least: * a first sensor measuring the displacement of a part of the mobile device during the individual's walking to determine the distance traveled by the latter when using said device, * a second sensor measuring a difference in position of at least one moving limb of the individual to determine at least one data point among the amplitude of swing movement of said limb, a step rate, and an asymmetry of gait, * said sensors being coupled so as to determine step length, step length asymmetry, or walking speed, and - an electronic microcontroller board powered by an electrical energy source to perform at least one function among the retrieval of data from all sensors, the storage of data from all sensors, the analysis of data from all sensors and the transmission of data from all sensors to a digital processing unit.

[0009] The invention is implemented according to the embodiments and variants set out below, which are to be considered individually or according to any technically operative combination.

[0010] Advantageously, the first displacement sensor is an odometer.

[0011] More specifically, Pedometer is a Hall effect sensor comprising at least one a magnet mounted on a wheel of the device in contact with the ground and a magnetic field detector.

[0012] According to a particular embodiment of the present invention, the device comprises at least one movable assistance and / or motion tracking member in contact with a lower limb of the individual, said movable assistance member being articulated from front to back relative to the movable base, and vice versa, so as to accompany the movement of said lower limb, the second sensor measuring a difference in the angle of inclination of said movable assistance member relative to a reference position.

[0013] In particular, the device comprises two movable assistance members in contact respectively with the lower limbs of the individual, said movable assistance members being articulated on the movable base and alternately forcing forward and / or backward each of said lower limbs of the individual in the second high position of the base so as to assist the walking of the individual, an angular sensor being provided on each movable assistance member and the microcontroller electronic board measuring a difference in the angle of inclination of each movable member and / or a difference in the angle of inclination between the two movable members.

[0014] Advantageously, the movable assistance organs support said lower limbs in the first low position of the base when the individual is sitting on the device.

[0015] Preferably, each second sensor is an inertial measurement unit (IMU).

[0016] According to a preferred embodiment of the present invention, the device comprises in addition at least a third sensor measuring at least one data point among the individual's presence on the device and the duration of their presence in each of the sitting and walking positions

[0017] According to a complementary aspect, the device also comprises a saddle-type support member intended to be in contact with the individual and which is movable relative to said frame between a first low seating position in which the individual can sit on it and a second high walking position adjustable in height in which the individual is at least partially supported by said support member. sitting-standing position, the supporting organ being equipped with a sensor measuring a pressure or a pressure difference exerted by the individual on the supporting organ, particularly during walking.

[0018] Advantageously, the pressure sensor is adapted to measure in real time the pressure exerted by the individual on said support organ and to determine at least one data among the presence of the individual on the device, the duration of the individual's presence on the device in each of the sitting and standing positions, the distribution of the individual's weight at least in the sitting position of the latter and the alternating movement of the individual's pelvis.

[0019] According to a particular embodiment of the present invention, the pressure sensor is a piezoelectric sheet with several pressure points.

[0020] Preferably, the support organ consists of two portions, each adapted to receive a buttock of the individual and equipped with a pressure sensor.

[0021] According to a particularly interesting aspect of the present invention, the microcontroller-based electronic board incorporates an inertial measurement unit to measure the position and / or accelerations of the walking aid device in all directions.

[0022] Preferably, the microcontroller electronic board also includes a wireless communication module for exchanging data with the external digital processing unit.

[0023] The present invention further relates to an assembly comprising the walking aid device as described above and an external digital data processing unit comprising at least one monitoring screen displaying, in particular in the form of graphs and / or figures, the processed data in order to display objectives to be achieved and objectives achieved in a rehabilitation program

[0024] According to a complementary feature of the present invention, the assembly comprises a fleet bringing together several walking aid devices as described above connected to one or more external digital processing unit(s) for the data sent by each of the devices.

[0025] Finally, the present invention also relates to an assembly comprising at least one walking aid device as described above and an individual capable of using said device, characterized in that the second sensor is worn directly by said individual. Brief description of the figures

[0026] Other advantages, purposes and features of the present invention will become apparent from the following description, given for explanatory purposes only and not as a limitation, with reference to the accompanying drawings, in which:

[0027] [Fig-1] [Fig. 1] is a perspective view of a wheelchair-type walking aid device,

[0028] [Fig.2] [Fig.2] is a detailed view of [Fig.1],

[0029] [Fig.3] [Fig.3] is a rear view of the device in [Fig.1],

[0030] [Fig.4] [Fig.4] is a detailed view of [Fig.3],

[0031] [Fig.5] [Fig.5] is a side view of [Fig.1],

[0032] [Fig.6] [Fig.6] is a detailed view of a Hall effect sensor of the device figures 1 to 6,

[0033] [Fig.7] [Fig.7] is a side view of [Fig.7],

[0034] [Fig.8] [Fig.8] is a perspective view similar to [Fig.1] with means mobile assistance devices in second position

[0035] [Fig.9] [Fig.9] is a perspective view similar to [Fig.1] with means mobile assistance devices in third position

[0036] [Fig. 10] [Fig. 10] is a perspective view of an alternative embodiment of [Fig. 1],

[0037] [Fig. 11] [Fig. 11] is a top view of [Fig. 9] showing piezoelectric sensors,

[0038] [Fig. 12] [Fig. 12] is a perspective view of an alternative embodiment of [Fig. 1] and 9. Description of the implementation methods

[0039] Firstly, the present description is given by way of non-limiting, each feature of an embodiment being able to be combined with any other feature of any other embodiment described and / or represented.

[0040] It is also noted from the outset that the figures are not necessarily to scale, without this affecting their understanding.

[0041] Finally, identical, similar or technically equivalent parts present in different figures bear the same numerical references so as to facilitate the transition from one figure to another.

[0042] Figures 1 to 9 show various overall or detailed views of a first embodiment of a walking aid device 1 according to the present invention. In this case, the device 1 is a technical walking assistance chair usable, for example, by an individual such as a person with reduced mobility, a patient in rehabilitation, or an elderly person, allowing the individual to sit down and stand up to walk as normally as possible with assistance this involves using the said chair and performing physiotherapy exercises in order to walk again, improve one's gait or regain total autonomy of movement.

[0043] To this end, the walking aid chair 1 mainly comprises: - a mechanical assembly of metal parts (in particular tubes fixed together for example by welding) forming a chassis 10 mounted on casters 3 (five in this case, two in the front position and three in the rear position, depending on the direction of travel), - a base 20 (mechanically welded structure in the main shape of an arc) movable relative to said chassis 10 between at least a first low seating position and a second high walking position, passing through various intermediate raised positions, and - a mechanism 30 for modifying the vertical position of the mobile base 20 between its first high position and its second low position, and vice versa, said mechanism 30 in the present case taking the form of two lateral deformable parallelograms connecting the mobile base 20 to the chassis 10, each parallelogram being assisted in its folding / unfolding movements by two elastically deformable return means of the cylinder type.

[0044] The movable base 20 typically supports a support element 40 on which an individual can sit in the lower position of said base 20, or stand in a height-adjustable seated / standing position in the upper position of said base 20, in which the individual is at least partially supported by said support element 40 to assist their walking. In the present case, the support element 40 is materialized by a saddle provided with a two-part comfort seat (thick foam, for example, memory foam) 42. A backrest 6 is also provided in the dorsal part of the walking aid device 1.

[0045] Finally, the mobile base 20 is equipped with movable parts 50 that allow the patient's leg movements to be tracked or even induced during rehabilitation. In this case, these movable parts 50 comprise lateral paddles 52 mounted for rotation on the mobile base 20 independently, so that while one paddle moves forward when pushed or pulled by the patient's thigh, the other paddle moves backward when pushed or pulled by the other thigh, and vice versa.

[0046] The walking aid chair 1 extends along a front-to-back longitudinal direction XX. The front of the chair 1 corresponds to the torso of an individual (not shown) and the back of the chair 1 corresponds to the back of said individual when seated in said chair 1.

[0047] The walking aid chair 1 also extends in a left-right transverse direction YY. The left and right directions correspond respectively to the left and right of the individual when the latter is sitting normally in the armchair 1.

[0048] Finally, the walking aid chair 1 also extends in a direction of height ZZ. The up and down directions correspond respectively to those of the individual when he is sitting normally in the chair 1 and looking above him or towards the ground.

[0049] According to the present invention, the device 1 is equipped with an embedded system comprising a set of motion sensors including at least a first sensor 60 measuring the displacement of a part of the device during the individual's walking to determine a distance traveled by the latter during the use of said device, a second sensor 70 measuring a difference in position of at least one moving limb of the individual to determine at least one data point among an amplitude of swing movement of said limb, a step rate, and an asymmetry of the gait.

[0050] In the present case, the first displacement sensor 60 is an odometer, and more specifically a Hall effect sensor integrated into one of the wheels (the central rear wheel, to be precise). This Hall effect sensor 60 typically comprises a series of magnets 62 integrated laterally into the tire of the wheel 3, and a magnetic field detector 64 of a known type. This first displacement sensor 60 thus makes it possible to measure a distance traveled by the walking aid device 1 with an accuracy on the order of a centimeter (depending on the number and especially the spacing of the magnets 62 passing sequentially in front of the magnetic field detector 64), or even less.

[0051] The second sensor 70 consists of an inertial measurement unit (IMU) 72 integrated into each support arm of the paddles 52. Each inertial measurement unit 72 thus determines, with a high degree of predictive accuracy, an angular difference of the associated paddle 52 (and therefore of a patient's leg) between a reference position (for example, the position in [Fig. 1] in which the paddles 52 are at the same level on a vertical plane), and at least two other positions, namely a forward position and a backward position. [Fig. 8] illustrates a first position in which the right paddle 52 (and therefore the patient's right leg) is forward and the left paddle 52 (and therefore the patient's left leg) is backward, while [Fig. 9] illustrates a second position in which the right paddle 52 (and therefore the patient's right leg) is backward and the left paddle 52 (and therefore the patient's left leg) is forward.The two inertial measurement units 72 thus allow for very precise measurement of the movement of a patient's limb, for example their legs in this case, to determine the range of motion of said legs, the step rate, and any asymmetry of the gait.

[0052] These sensors 60 and 70 are coupled and operate synergistically to determine step length, step length asymmetry, or walking speed. To this end, they are connected by means of various cables 80 to an electronic board 90 with a microcontroller powered by an electrical energy source 91 such as a rechargeable battery to perform at least one function among the retrieval of data from all the sensors, the storage of data from all the sensors, the analysis of data from all the sensors, and the transmission of data from all the sensors to an external digital processing unit 120 of a known type, such as a laptop, a tablet, or a smartphone, equipped with a dedicated application whose operation will be explained later.

[0053] The microcontroller-based electronic board 90 also includes its own inertial measurement unit (IMU) 92 for detecting the movements of the walking aid device 1 in space, an integrated microprocessor for data acquisition and analysis, and an external communication module for remote transmission and reception of data (e.g., via cellular network, or via Wi-Fi or Bluetooth®) with the external digital processing unit 120.

[0054] A clicker (not referenced) is also provided on the chassis 10 to deactivate certain functions (for the purpose of conserving battery 91) in the seated position of the walking aid device 1.

[0055] In the embodiment of Figures 10 and 11, the microcontroller-based electronic board 90 is connected by cables 80 to piezoelectric pads 100 located in the saddle 40. These pads 100, each having, for example, three distinct measurement points suitably spaced per half-saddle 42, i.e., six measurement points, make it possible to analyze the pressures exerted by the patient at different locations on the saddle 40. They also make it possible to know whether it is the right part, the left part, or both parts of a patient's pelvis that rests on the two portions 42 of the saddle 40, and to deduce in particular a lateral oscillation of the body (in particular of the pelvis) characteristic of walking, and potentially determine an amplitude of leg swing movement, a step rhythm, and an asymmetry of the gait by measuring the sequence of right-left oscillations.

[0056] Fig. 12 illustrates a walking aid device 1 in which the sensors 50 are replaced, or supplemented, by a camera 110 which captures in real time the movements of the patient's legs to determine a amplitude of leg swing movement, a step rhythm, and asymmetry of gait.

[0057] Thus, the set of these sensors 60, 70, 100 and 120 makes it possible to measure various parameters of walking (distance covered, stride length, stride asymmetry, etc.), but also of activity (time spent standing, time spent "active", etc.), as well as the pressures applied by the patient when sitting or in a sit-stand walking position on device 1.

[0058] Thus, thanks to the synergy of the first sensor 60 and the second or third sensors 70 and 100, the invention makes it possible to provide a precise and unmodeled measurement of the distance of each of a patient's steps. At any given moment, it is possible to link the position of the patient's thighs and their respective angles with the distance traveled by the wheel 3 over the same period of time. This therefore allows for extremely precise measurements.

[0059] The external digital processing unit 120 thus gathers the data acquired by the microprocessor-based electronic card 90 and formats it in various ways, preferably as colored graphs (curves, cross-sections, pie charts, bar graphs, etc.) and / or a table of values. This makes it easy to visualize the number of steps, the duration of standing and sitting activity, the step rate, any step asymmetry, the rhythm of the steps, etc.

[0060] From the patient's / family's perspective: the walking aid 1 and the dedicated application allow each patient to know their daily or previous day's activity in detail, as well as overall statistics. Objectives are provided to the patient, and a self-rehabilitation program is prescribed by their rehabilitation therapist. When the patient completes the program or achieves their daily activity and walking objectives, they receive rewards, for example. The aim is to provide patients with an additional motivational element.

[0061] From the rehabilitation therapist's perspective: the walking assistance device 1 and the dedicated application allow the practitioner and care teams to monitor patients' progress throughout the day and, for example, over the past seven days. The aim is to enable the practitioner and teams to motivate their patient(s) and obtain a comprehensive overview of the therapy's progress, rather than measuring the differences between each session. Medical support becomes continuous rather than sporadic. The rehabilitation therapist can thus prescribe new adapted activities or self-rehabilitation exercises, which are then transmitted to the patient via their interface and later to the walking assistance devices 1.

[0062] From the perspective of the facility manager: the walking assistance device 1 and the dedicated application provide a comprehensive overview of all patients on a daily basis, as well as the ability to manage the fleet of walking assistance devices 1 present in the facility. The device 1 and the dedicated application allow the facility manager to link new devices to new patients so that they can access their data, schedule coaching sessions, check the battery status of each device 1, and monitor its usage.

[0063] Each part of the dedicated application has a specific access for each type of user.

[0064] The invention is therefore also of particular interest in the use of a fleet of several identical walking aid devices 1 which are made available to several patients / physiotherapists of the same rehabilitation center (or even shared between several units of the same center).

[0065] Thus, this fleet can be managed in an "administrative" way on the one hand, to know who uses which device, when, for how long, but also in a "qualitative" way since it is possible to easily follow the progress of the rehabilitation of several patients "assigned" either to different walking aid devices 1, or to the same common walking aid device 1 (which is parameterized individually).

[0066] It is also possible to monitor the progress of several patients with the same condition who must follow essentially the same rehabilitation protocol, in order to see what works best for some and less well for others. Access to the digital platform for providing results allows healthcare teams to consult the data directly on a dedicated screen and quickly adapt the rehabilitation to optimize and personalize it as much as possible.

[0067] Simultaneous coupling of the frequency of at least one of the two steps (right or left) with the distance covered by Pedometer provides better accuracy in determining the number and distance of steps, particularly in cases where walking is affected by a pathology (very small step, very slow gait, tremors due to a neurodegenerative pathology such as Parkinson's disease or other, etc.).

[0068] In addition, the solution collects data in a completely transparent manner for the patient, which avoids disturbing him in his rehabilitation and harming its effectiveness.

[0069] Another advantage, more subjective but difficult to quantify, concerns the motivational factor in the success of rehabilitation therapy. The presence of a platform that measures precise data in real time, compares it, establishes a program, objectives, progress tracking, and results, and integrates itself into a care pathway and with the various stakeholders, constitutes an important element of the solution provided to patients. The problem to be solved is not only technical but also psychological.

[0070] Because the device follows the patient throughout the day, it allows all stakeholders to have a near real-time indication of the patient's activities, and not just during sessions. This also allows them, via the platform, to offer specific rehabilitation sessions to be carried out independently within the device, in order to improve the patient's rehabilitation potential.

[0071] Beyond simple parameters such as sitting position, standing position, walking time, number of steps and their cadence, the walking aid device incorporates a veritable laboratory. Thus, even more complex parameters, the observation of which was until now reserved for the use of specific technologies, can now be acquired and monitored throughout the day and in everyday use for regular, reliable and easily accessible monitoring for both the patient and medical staff (physiotherapist, nurses, caregivers) or those around them (family).

[0072] The device of the present invention thus provides a significant improvement in the quality and speed of rehabilitation, allowing practitioners to free up time and patients to return to a comfortable life more quickly, for example by returning home sooner and avoiding hospitalization. This improvement can therefore generate financial savings for both the rehabilitation center and the patient, especially since the same chair can be personalized and thus used by several patients within the same center.

[0073] It must be clearly understood that the detailed description of the object of the Invention, given solely by way of illustration, does not in any way constitute a limitation, technical equivalents also being included in the scope of the present invention.

[0074] Thus, the odometer can be replaced by a GPS, an ultrasonic sensor, an optical sensor, a tachometer or any other type of sensor measuring a distance traveled by the wheelchair and / or the individual.

[0075] The position sensor can be replaced by an optical or infrared encoder, a potentiometer, a pedometer or an inertial measuring unit.

[0076] The piezoelectric pads can be embedded in the foam or in contact with the upholstery fabric. It would then be sufficient to change the connection method between the pads and the acquisition system.

[0077] Each half saddle is equipped with a piezoelectric plate with three pressure sensors (i.e. six in total) but it is possible to vary the number of saddles (1 or 2) and the number of pressure sensors on them.

[0078] Pressure sensors in the saddle allow monitoring of pressure changes in both sitting and standing positions, which could be useful in the potential detection of pressure ulcers or other problems. The ability to monitor these pressures in both sitting and standing positions should ultimately provide important information on the patient's gait in relation to the weight exerted on the saddle at any given time.

[0079] The push paddles on the front part of the individual's thighs can be replaced or combined with a pulling system, for example by straps, so that the alternating forward and backward movement of the individual's legs can be assisted by a forward pulling force and not by a pushing force from the back of said thighs.

[0080] The sensors 50 can also be worn directly by the patient, for example by attaching them around the patient's thigh or calf, which makes it possible to track the number of steps or their asymmetry.

Claims

Demands

1. A walking aid device (1) for an individual, comprising at least: - a mechanical assembly forming a frame (10), - a base (20) intended to be in contact with the user and movable at least vertically relative to said frame (10) between a first low sitting position and a second high walking position, - a device (30) for modifying the vertical elevation position of the movable base (20) at least between its first high position and its second low position, and vice versa, by displacement along at least one translation between said positions, characterized in that it is equipped with an embedded system comprising: - a set of motion sensors including at least: * a first sensor (60) measuring the displacement of a part of the device (1) during the individual's walking to determine a distance traveled by the latter during the use of said device (1), * a second sensor (70;100) measuring a difference in position of at least one moving limb of the individual to determine at least one data point among an amplitude of swing movement of said limb, a step rate, and an asymmetry of gait, * said sensors (60, 70; 100) being coupled so as to determine step length, step length asymmetry, or walking speed, and - an electronic card (90) with a microcontroller powered by an electrical power source (91) to perform at least one function among the retrieval of data from all the sensors, the storage of data from all the sensors, the analysis of data from all the sensors and the transmission of data from all the sensors to a digital processing unit.;

2. Walking aid device (1) according to claim 1, characterized in that the first displacement sensor (60) is an odometer.

3.

4.

5.

6.

7.

8. Walking aid device (1) according to claim 2, characterized in that -Pedometer (60) is a Hall effect sensor comprising at least one magnet (62) mounted on a wheel (3) of the device (1) in contact with the ground and a magnetic field detector (64). Walking aid device (1) according to any one of claims 1 to 3, characterized in that it comprises at least one movable assistance and / or movement tracking member (50) in contact with a lower limb of the individual, said movable member (50) being articulated front to back relative to the movable base (20), and vice versa, so as to accompany the movement of said lower limb, the second sensor (70) measuring a difference in the angle of inclination of said movable assistance member relative to a reference position. Walking assistance device (1) according to claim 4, characterized in that it comprises two movable assistance members (52) in contact respectively with the lower limbs of the individual, said movable assistance members (52) being articulated on the movable base (20) and alternately applying forward and / or backward pressure to each of said lower limbs of the individual in the second high position of the base (20) so as to assist the walking of the individual, an angular sensor (72) being provided on each movable assistance member (52) and the microcontroller electronic board (90) measuring a difference in the angle of inclination of each movable member (52) and / or a difference in the angle of inclination between the two movable members (52). Walking aid device (1) according to claim 5, characterized in that the movable assistance members (52) support said lower limbs in the first low position of the base (20) when the individual is sitting on the device (1). Walking aid device (1) according to any one of claims 1 to 6, characterized in that each second sensor (70) is an inertial measurement unit (IMU). Walking aid device (1) according to any one of claims 1 to 7, characterized in that it further comprises at least one third sensor (100) measuring at least one data point among the presence of the individual on the device (1) and the duration of his presence in each of the sitting and walking positions.

9. A walking aid device (1) according to claim 8 characterized in that it also comprises a saddle-type support member (40) intended to be in contact with the individual and which is movable relative to said frame (10) between a first low seating position in which the individual can sit on it and a second high walking position adjustable in height in which the individual is supported at least partially by said support member in a sitting-standing position, the support member (40) being equipped with a sensor (100) measuring a pressure or a pressure difference exerted by the individual on the support member (40), in particular during walking.

10. Walking aid device (1) according to claim 9, characterized in that the pressure sensor (100) is adapted to measure in real time the pressure exerted by the individual on said support organ (40) and to determine at least one data point among the presence of the individual on the device (1), the duration of the individual's presence on the device (1) in each of the sitting and standing positions, the distribution of the individual's weight at least in the sitting position, and the alternating movement of the individual's pelvis.

11. Walking aid device (1) according to any one of claims 9 to 10, characterized in that the pressure sensor (100) is a piezoelectric multi-point pressure plate.

12. Walking aid device (1) according to any one of claims 9 to 11, characterized in that the support member (40) consists of two portions (42), each adapted to receive a buttock of the individual and equipped with a pressure sensor (100).

13. Walking aid device (1) according to any one of the preceding claims, characterized in that the microcontroller-based electronic board (90) incorporates an inertial measurement unit (92) for measuring the position and / or accelerations of the walking aid device (1) in all directions.

14. Walking aid device according to any one of the preceding claims, characterized in that the microcontroller-based electronic board (90) also includes a wireless communication module for exchanging data with the external digital processing unit.

15. Walking aid device (1) according to any one of claims 1 to 14, characterized in that the second sensor (70) is worn directly by said individual.

16. Assembly comprising the walking aid device (1) according to any one of claims 1 to 15 and an external digital data processing unit (120) comprising at least one monitoring screen representing, in particular in the form of graphs and / or figures, the processed data in order to display objectives to be achieved and objectives achieved of a rehabilitation program.

17. Assembly according to claim 16, characterized in that it comprises a fleet bringing together several walking aid devices (1) according to any one of claims 1 to 15 connected to one or more extreme digital processing unit(s) (120) of the data sent by each of the devices (1).

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