Orthosis containing a 3-DOF mechanical hip link

Abstract

The present invention relates to a brace (1) including a mechanical hip connection including an anterior pivot link (10), a sagittal pivot link (20) and a lateral pivot link, which is made up of a number of pivot links (31-37) connected in pairs by connecting rods (38-45) to form a virtual pivot link (30), such that the lateral pivot axis intersects a sagittal plane (P1), a plane (P4) perpendicular to the anterior pivot axis (X2) and containing the sagittal pivot axis (X1), and a volume bounded by a hip structure (2) and a thigh structure (3).

Description

[Technical field]

[0001] The present application relates to a system or exoskeleton for assisting human mobility, particularly capable of assisting users affected by mobility impairments. [Background technology]

[0002] An exoskeleton generally includes a pelvic structure, two thigh structures, two foot structures, and two hip structures. The pelvic structure is configured to be positioned behind the user's kidneys when the user is wearing the exoskeleton, and can be attached to the pelvis by a strap or harness to the user's body. Each thigh structure is configured to be positioned facing one of the user's legs (left or right depending on the structure) and includes upper and lower leg segments arranged to face the user's thigh and calf, respectively. Each foot structure further includes a support surface that can support either of the user's feet (left or right depending on the structure) when flat. Finally, each hip structure is configured to be positioned facing one of the hips (left or right depending on the structure).

[0003] Full control of an exoskeleton requires mechanical actuators and connections to enable movement of the exoskeleton and of the user wearing it. Mechanical connections typically include pivot, sliding and / or ball joint links, while actuators may include rams or motors, among others.

[0004] These mechanical links and actuators are selected to allow the movement of the exoskeleton without the risk of injuring the user wearing it, and for this purpose it is particularly important to propose an exoskeleton that does not exert forces not tolerated by the user's members and that is both small in volume and of moderate weight.

[0005] To enable walking movements, the exoskeleton includes mechanical hip links configured to connect, among other things, the hip structure and each thigh structure. Typically, these mechanical links include pivot links configured to enable flexion / extension movements of the user in the sagittal plane. Certain exoskeletons may include additional pivot links configured to enable abduction / adduction movements in the frontal plane. The pivot axes of these mechanical links are near the pivot axes of the user's hips, and the pivot links are attached to the exoskeleton to extend around the user's body. Thus, the user can move forwards or backwards within the exoskeleton.

[0006] Some exoskeletons, such as the Atalante exoskeleton marketed by the applicant, also include a third pivot link configured to allow internal / external rotational movements in the transverse plane of the user. However, in order to reproduce the lateral pivot link of a human, this pivot link should be located in the exoskeleton where the patient is found. Therefore, the third pivot link of the Atalante exoskeleton is offset to the rear of the exoskeleton. However, this offset has the consequence of generating parasitic movements of the user (the pelvis has to move forward during external rotational movements), and to avoid the risk of injury to the user resulting from these parasitic movements, it is included to limit the articulation of the thigh structure relative to the hip structure to around 20 degrees in the transverse plane. Although an improvement compared to mechanical links with the lateral link removed, the possible movements of the exoskeleton, and therefore of the user, can still be optimized. Summary of the Invention

[0007] One object of the present application is to remedy the aforementioned drawbacks by proposing a brace for a living organism, preferably a human being, including a mechanical hip link that is more ergonomic and more anthropomorphic than known braces, and that is capable of allowing additional movements in the frontal, sagittal and transverse planes.

[0008] According to a first aspect, an orthosis is proposed, which comprises a mechanical hip link connecting a hip structure arranged to be positioned facing the hips of a user and a thigh structure arranged to receive the legs of the user, the mechanical hip link comprising a front pivot link arranged to allow a rotational movement of the thigh structure relative to the hip structure along a front pivot axis of the orthosis, a sagittal pivot link arranged to allow a rotational movement of the thigh structure relative to the hip structure along a sagittal pivot axis of the orthosis, and a lateral pivot link arranged to allow a rotational movement of the thigh structure relative to the hip structure along a lateral pivot axis of the orthosis. In addition, the sagittal pivot axis and the front pivot axis are parallel. Further, the lateral pivot link is composed of a plurality of pivot links connected two by two by connecting rods to form a virtual pivot link such that the lateral pivot axis intersects a sagittal plane, a plane perpendicular to the anterior pivot axis and containing the sagittal pivot axis, a volume defined by the hip structure and the thigh structure.

[0009] Preferred but non-limiting features of the brace according to the first aspect are as follows, taken individually or in combination:

[0010] The lateral pivot axis is perpendicular to a plane formed by the forward pivot axis and the sagittal pivot axis, and a first intersection defined by the intersection of said plane with the lateral pivot axis is located at a distance of less than 150 mm, preferably less than 120 mm, preferably less than 100 mm, for example less than 92 mm, from a second intersection defined by the intersection of the sagittal pivot axis with the forward pivot axis.

[0011] The first intersection point is located at a distance of 90 mm or less, preferably 60 mm or less, more preferably 40 mm or less, such as 0 mm to 10 mm from the sagittal plane of the orthosis.

[0012] The first intersection point is parallel to the frontal plane of the brace and is located at a distance of 90 mm or less, preferably 70 mm or less, from a plane containing the sagittal pivot axis.

[0013] The pivot links constituting the lateral pivot links are two first pivot links connected by a first connecting rod; a second pivot link and a third pivot link connected to a corresponding first pivot link by a second connecting rod and a third connecting rod, respectively, the second pivot link and the third pivot link having the same length; a fourth pivot link connected to the second pivot link by a fourth connecting rod fixedly coupled to the second connecting rod; a fifth pivot link and a sixth pivot link connected to the second pivot link and the fourth pivot link by a fifth connecting rod and a sixth connecting rod, respectively, the fifth pivot link and the sixth pivot link having the same length; a seventh connecting rod connecting the second pivot link and the third pivot link and fixedly coupled to the fifth connecting rod; an eighth connecting rod connecting the fifth pivot link and the sixth pivot link; Includes.

[0014] The anterior pivot link is mechanically connected to the hip structure, the sagittal pivot link is mechanically connected to the thigh structure, and the lateral pivot link is mechanically connected to the anterior pivot link and the sagittal pivot link.

[0015] The orthosis includes a lateral actuator configured to actuate the lateral pivot link, a forward actuator configured to actuate the forward pivot link, and a sagittal actuator configured to actuate the sagittal pivot link, The lateral actuator, the forward actuator and the sagittal actuator are independent of each other.

[0016] The orthosis includes a lateral actuator configured to actuate the lateral pivot link, the lateral actuator including an actuation connecting rod including a first end connected to the lateral pivot link by a first ball joint link and a second end connected to the hip structure by a second ball joint link.

[0017] The second ball joint link is offset relative to the front pivot axis.

[0018] The lateral actuator includes an actuation turntable coaxial with the forward pivot axis.

[0019] The second ball joint link is connected to the actuation turntable and is offset relative to the front pivot axis.

[0020] The sagittal pivot axis of the sagittal pivot link moves with the center of rotation of the first ball joint link.

[0021] The orthosis includes a forward actuator configured to actuate the forward pivot link, the forward actuator being offset relative to the forward pivot axis.

[0022] The front actuator includes two cables attached crosswise to the output shaft of the front actuator on the one hand and to the front pivot link on the other hand for pivoting the front pivot link about the front pivot axis.

[0023] The brace includes at least one of mechanical stops including an anterior stop configured to limit rotation of the thigh structure about the anterior pivot axis, a sagittal stop configured to limit rotation of the thigh structure about the sagittal pivot axis, and a lateral stop configured to limit rotation of the thigh structure about the lateral pivot axis.

[0024] The orthosis is an exoskeleton.

[0025] The invention applies, for example, to exoskeletons, but also to any kind of prosthesis involving hip and thigh structures. [Brief description of the drawings]

[0026] Other characteristics, objects and advantages of the invention will become apparent from the following description, which is purely illustrative and non-limiting and which must be read in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a kinematic model of an example embodiment of a mechanical hip link for a brace consistent with embodiments of the present invention when the brace is at rest. [Diagram 2] FIG. 2 is a top view of the kinematic model of FIG. [Diagram 3] FIG. 3 corresponds to the kinematic model of FIG. 1 during a pure rotational movement about the anterior pivot axis of the brace. [Figure 4] FIG. 4 corresponds to the kinematic model of FIG. 1 during a pure rotational movement about the lateral pivot axis of the brace. [Diagram 5] FIG. 5 corresponds to the kinematic model of FIG. 1 during a pure rotational movement about the sagittal pivot axis of the brace. [Figure 6] FIG. 6 is a simplified perspective view of one embodiment of a brace consistent with an embodiment of the present invention, illustrating the actuation of the brace's lateral mechanical links. [Figure 7]FIG. 7 is a simplified rear view of an exemplary embodiment of a brace consistent with an embodiment of the present invention, illustrating one example of the actuation of the brace's front mechanical link, with the thigh structure shown in two different positions. [Figure 8] FIG. 8 is a simplified rear view of an exemplary embodiment of a brace consistent with an embodiment of the present invention, illustrating one example of a mechanical stop on the anterior pivot link. [Figure 9] FIG. 9 is a simplified top view of an exemplary embodiment of a brace consistent with an embodiment of the present invention, illustrating one example of a mechanical stop on the lateral pivot link. [Figure 10] FIG. 10 is a simplified side view of an exemplary embodiment of a brace consistent with an embodiment of the present invention, illustrating one example of a mechanical stop on a sagittal pivot link. [Figure 11] 11 is a simplified diagram of an example of an exoskeleton including a mechanical hip link consistent with an embodiment of the present invention, in which like elements have the same reference numerals in all figures. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] The brace 1 according to the present invention includes a hip structure 2 configured to lie against the hips of a user and a thigh structure 3 configured to receive the legs of the user. The hip structure 2 and the thigh structure 3 are configured to be connected by a mechanical hip link 4.

[0028] The thigh structure 3 includes an upper thigh structure 3 configured to receive a user's thigh, and optionally a lower leg structure 3 configured to receive a user's calf. Where applicable, the lower leg structure 3 and the upper thigh structure 3 are connected by a mechanical knee link that allows the lower leg structure 3 to move relative to the upper thigh structure 3. Meanwhile, the hip structure 2 extends laterally relative to the corresponding hip of the user.

[0029] In the following, the invention will be described in the case of an orthosis 1 including a hip structure 2 and a thigh structure 3. However, the invention also applies to any orthosis 1 for a human or animal body including a hip structure 2 and a thigh structure 3, for example an orthosis 1 including a right thigh structure 3 and a left thigh structure 3, with or without a lower leg structure 3, and including a foot structure 5 connected to each lower leg structure 3 by a mechanical ankle link, if applicable. And the invention applies symmetrically to the mechanical links connecting the hip structure 2 to the right thigh structure 3 and the left thigh structure 3. Optionally, the orthosis 1 may also include a pelvis structure 6 configured to be located behind the kidneys of the user when the user is wearing the orthosis 1 and attachable to the user's pelvis by a harness or straps.

[0030] The orthosis 1 will be described below with reference to reference planes and axes, in particular the sagittal plane P1, the transverse plane P3 and the frontal plane P2 of the orthosis 1. The extension directions of these planes are defined when the user is wearing the orthosis while standing upright with both feet parallel to each other. In the following, this position is defined as the rest position (or neutral position, see Figures 1 and 2) of the orthosis 1.

[0031] When the brace 1 includes two thigh structures, the sagittal plane P1 corresponds to a vertical symmetry plane of the brace 1 passing through the center of the buttocks structure 2. The right thigh structure 3 is then substantially symmetrical to the left thigh structure 3 with respect to the sagittal plane P1. Note that the sagittal plane P1 of the brace 1 including only one thigh structure 3 according to the present invention is located at the same position of the brace 1 as if the brace 1 included two thigh structures. Thus, in this sagittal plane P1, the flexion and extension movement of the thigh structure 3 is performed relative to the buttocks structure 2, for example in connection with walking.

[0032] The frontal plane P2 of the brace 1 is perpendicular to the sagittal plane P1 and divides the brace into two parts, anterior (ventral) and posterior (dorsal), in which the abduction and adduction movements of the thigh structure 3 are performed relative to the hip structure 2, for example in connection with hip rocking movements.

[0033] The transverse plane P3 of the brace 1 is perpendicular to the sagittal plane P1 and the frontal plane P2. This plane is parallel to the ground and divides the brace 1 into two parts: an upper part (towards the user's pelvis) and a lower part (towards the user's feet). In this plane, the abduction and abduction movements of the thigh structure 3 are performed relative to the hip structure 2, for example in conjunction with a twisting movement of the thigh structure 3.

[0034] Mechanical hip link 4: a front pivot link 10 configured to enable a rotational movement of the thigh structure 3 relative to the hip structure 2 about a front pivot axis X2 perpendicular to the frontal plane P2 of the brace 1; a sagittal pivot link 20 configured to allow rotational movement of the thigh structure 3 relative to the hip structure 2 about a sagittal pivot axis X1 perpendicular to a sagittal plane P1 of the brace 1 when the brace 1 is stationary; a lateral pivot link 30 configured to permit rotational movement of the thigh structure 3 relative to the buttock structure 2 about a lateral pivot axis X3 perpendicular to a transverse plane P3 of the brace 1 when the brace 1 is stationary; Includes.

[0035] The sagittal pivot axis X1 and the anterior pivot axis X2 are co-located, i.e. they intersect at a first intersection point I1. Preferably, when the user is wearing the brace 1 and is stationary, this first intersection point I1 meets the center of rotation of the user's corresponding hip joint (the hip-femoral joint, which is similar to a spherical ball joint link).

[0036] The lateral pivot link 30 is composed of a plurality of pivot links 31-37 that are connected in pairs by connecting rods 38-45 to form a virtual pivot link 30, so that the lateral pivot axis X3 is perpendicular to the sagittal plane P1 and the front pivot axis X2 and intersects with a plane P4 including the sagittal pivot axis X1 and an area bounded by the buttock structure 2 and the thigh structure 3. That is, an intersection I2 between the (lateral) pivot axis of the virtual pivot link 30 and the plane including the front pivot axis X2 and the sagittal pivot axis X1 is located in an area extending between the buttock structure 2 and the thigh structure 3 on the one hand, and between the sagittal pivot axis X1 and the front pivot axis X2 on the other hand.

[0037] Here, a "connecting rod" is understood to be a rigid part that does not deform under normal use conditions of the orthosis 1. Therefore, the pivot links 31-37 connected by a given connecting rod 38-45 are fixedly connected so that the distance between the respective rotation axes is constant under normal use conditions.

[0038] The mechanical hip link 4 thus obtained is more ergonomic in the sense that the sagittal pivot axis X1 and the anterior pivot axis X2 correspond to and are co-axial with the natural pivot axes of the hip joint of the user. Furthermore, since the pivot axis X3 of the virtual pivot link 30 is close to the center of rotation of the hip-femoral joint, parasitic movements such as advancing the user's pelvis during walking movements or when spreading the legs outwards are strongly limited. The articulation in external rotation is also more sufficient, which gives the mechanical hip link 4 of the brace 1 three real degrees of freedom, allowing the user to walk stably (without the need for crutches).

[0039] The formation of the virtual pivot link 30 by the pivot links 31-37 connected in series by the connecting rods 38-45 allows the pivot axis X3 of the lateral pivot link 30 to be brought closer to the centre of rotation of the hip joint without risking injury to the user and eliminating the need to place the pivot links on the user's body. In fact, the decomposition of the lateral pivot link 30 into a number of serial pivot links 31-37 allows offsetting part of the joint outside the volume occupied by the user and positioning the pivot axis resulting from this decomposition within this volume, i.e. between the anterior pivot axis X2 and the sagittal pivot axis X1, substantially close to the first intersection point I1.

[0040] The lateral pivot axis X3 intersects with a plane including the front pivot axis X2 and the sagittal pivot axis X1 at a second intersection I2. The virtual pivot link 30 is configured such that the distance d1 between the second intersection I2 and the first intersection I1 (between the sagittal pivot axis X1 and the front pivot axis X2) is less than 150 mm, preferably less than 120 mm, more preferably less than 100 mm, for example, 92 mm or less, typically about 70 mm, when the brace 1 is stationary. Furthermore, the second intersection I2 is located at a distance d2 of 90 mm or less, preferably 60 mm or less, more preferably 40 mm or less, for example, at least 0 mm or more and 10 mm or less, from the sagittal plane P1 of the brace 1 when the brace 1 is stationary. And, the second intersection point I2 may be located at a distance d3 of 90 mm or less, preferably 70 mm or less, from a plane P4 (perpendicular to the anterior pivot axis X2 and including the sagittal pivot axis X1 of the orthosis 1) when the orthosis 1 is stationary. Note that the lateral pivot axis X3 is preferably perpendicular to the plane including the sagittal pivot axis X1 and the anterior pivot axis X2.

[0041] In this configuration, the possible joint angle of the virtual pivot link 30 is at least equal to 40° without any parasitic movement noticeable by the user, when the distance d1 is of the order of 70 mm, the distance d2 is configured between 0 mm and 10 mm, and the distance d3 is equal to or less than 70 mm.

[0042] The orthosis 1 also comprises actuators 12, 22, 32 arranged to independently actuate the forward pivot link 10, the lateral pivot link 30 and the sagittal pivot link 20. The independent actuation of the different pivot links 10, 20, 30 allows indeed to simplify the control of the mechanical hip link 4. For this purpose, the orthosis 1 comprises a lateral actuator 32 arranged to actuate the lateral pivot link 30, a forward actuator 12 arranged to actuate the forward pivot link 10 and a sagittal actuator 22 arranged to actuate the sagittal pivot link 20, these three actuators 12, 22, 32 being independent of each other. Each of the actuators 12, 22, 32 comprises, in a manner known per se, a motor arranged to rotate an output shaft 15, 24 to which the corresponding pivot link 10, 20, 30 is connected (directly or indirectly).

[0043] Furthermore, the anterior pivot link 10 is mechanically connected to the hip structure 2, the sagittal pivot link 20 is mechanically connected to the thigh structure 3, and the lateral pivot link 30 is mechanically connected to the anterior pivot link 10 and the sagittal pivot link 20. Thus, the anterior pivot link 10, the lateral pivot link 30 and the sagittal pivot link 20 are mounted in series. In addition, the sagittal actuator 22 is mounted to the lateral pivot link 30 and the lateral actuator 32 is mounted to the anterior pivot link 10. This configuration therefore allows the use of independent mechanical stops 19a-b, 25a-b, 52 for each pivot axis X1, X2, X3 of the mechanical hip link 4, which ensure the safety of the patient in all circumstances, since these mechanical stops 19a-b, 25a-b, 52 prevent the brace 1 from performing movements that extend beyond one of the user's joints even while control of the actuators 12, 22, 32 is lost.

[0044] The lateral pivot links 30 include, inter alia: two first pivot links 31, 32 connected together by a first connecting rod 38; a second pivot link 33 and a third pivot link 34 connected to the corresponding first pivot links 31, 32 by second connecting rods 39 and third connecting rods 40 having the same length; a fourth pivot link 35 connected to the second pivot link 33 by a fourth connecting rod 41 fixedly coupled to the second connecting rod 39; a fifth pivot link 36 and a sixth pivot link 37 connected to the second pivot link 33 and the fourth pivot link 35 by a fifth connecting rod 42 and a sixth connecting rod 43 having the same length, respectively; a seventh connecting rod 44 connecting the second pivot link 33 and the third pivot link 34 and fixedly coupled to the connecting rod 42; an eighth connecting rod 45 connecting the fifth pivot link 36 and the sixth pivot link 37; Includes.

[0045] The length of the eighth connecting rod 45 is substantially equal to the length of the fourth connecting rod 41 such that the gap between the pivot axes of the fifth pivot link 36 and the sixth pivot link 37 is substantially equal to the gap between the pivot axes of the second pivot link 33 and the fourth pivot link 34. Similarly, the length of the first connecting rod 38 is substantially equal to the length of the seventh connecting rod 44 such that the gap between the pivot axes of the first pivot links 31, 32 is substantially equal to the gap between the pivot axes of the second pivot link 33 and the third pivot link 34.

[0046] When the orthosis 1 is stationary, the pivot axes of the second pivot link 33, the third pivot link 34 and the fifth pivot link 37 are aligned. Similarly, the pivot axes of the first pivot link 31 connected to the second connecting rod 39 and the second pivot link 33 and the fourth pivot link 35 are aligned.

[0047] In one embodiment, in order to increase the stiffness of the lateral pivot link 30, especially against the action of the ground, each of the pivot links 31-37 and at least some of the connecting rods 39-43 are doubled. For this purpose, each of the pivot links 31-37 includes an upper pivot link and a lower pivot link (see Figs. 1 and 3-5), whose pivot axes are joined and connected in pairs by a number of vertical connecting rods 46. The upper pivot links 31-37 are connected in pairs by upper connecting rods 38-45, and the lower pivot links 31-37 are connected in pairs by lower connecting rods 39-43. Note that the number of upper connecting rods 38-45 and lower connecting rods 39-43 may be different.

[0048] A lateral pivot link 30 is attached to the forward pivot link 10, the torque and speed of movement of the lateral pivot link 30 depends on the position of said link 30.

[0049] The front pivot link 10 may, for example, comprise a pulley 13 mounted in the hip structure 2 and about a front pivot axis X2, the pulley 13 being fixedly connected to the thigh structure 3 by a front actuation connecting rod 14 (hereinafter front connecting rod 14, see especially Figs. 2 and 6) such that rotation of the pulley 13 relative to the hip structure 2 drives rotation of the thigh structure 3 about the front pivot axis X2. The pulley 13 may be mounted on an output shaft 15 of the front actuator 12 (or, if applicable, an integral pulley with the output shaft 15). As a variant, the output shaft 15 of the front actuator 12 may be offset in the hip structure 2 with respect to the front pivot axis X2 and the pulley 13 may be driven by cables 16, 17. An example of an offset drive is shown, for example, in Fig. 7. The output shaft 15 of the front actuator 12 is offset with respect to the front pivot axis X2 and extends above the pulley 13. A first cable 16 connects the output shaft 15 to the pulley 13 to pivot the pulley in a first direction about the front pivot axis X2, and a second cable 17 connects the pulley 13 to the output shaft 15 to pivot the pulley 13 in a second direction about the pivot axis X2. The cables 16, 17 cross midway between the output shaft 15 and the pulley 13 such that the first and second directions are opposite.

[0050] The offset actuation of the front pivot link 10 allows a large part of the actuation of the mechanical hip link 4 to be reduced. The use of the cables 16, 17 allows the size of the front actuator motor 12 to be reduced while increasing its reduction ratio. This is more relevant in the context of the front pivot link 10, in that the required torque applied to this link 10 is greater than that required for the lateral pivot link 30 and the sagittal pivot link 20. The reduction ratio is determined by the diameter of the pulley 13 and the diameter of the part of the output shaft 15 to which the cables 16, 17 are attached. The output shaft 15 (or the single-piece pulley with the output shaft 15 (if applicable) and to which the cables 16, 17 are attached) can have a diameter, for example, two times smaller than that of the pulley 13. Optionally, the orthosis 1 includes a system 18 for pre-loading the tension of the cables 16, 17 integrated in the hip structure 2, configured to apply tension to the cables 16, 17 to ensure the accuracy of the actuation of the front pivot link 10. The preload system 18 may include, among other things, a screw system for adjusting the tension applied to each cable 16 , 17 .

[0051] The lateral pivot link 30 is connected to the front connecting rod 14 of the front pivot link 10. Thus, a pure rotation of the thigh structure 3 about the front pivot axis X2 has the effect of pivoting the lateral pivot link 30 and the sagittal pivot link 20 about the front pivot axis X2.

[0052] The lateral actuator 32 may include a first lateral actuation connecting rod 47 (hereinafter, first lateral connecting rod 47) including a first end connected to the lateral pivot link 30 by a first ball joint link 48 and a second end connected to the gluteal structure 2 by a second ball joint link 49.

[0053] In one embodiment, the hip structure 2 includes an actuation turntable 50 mounted coaxially with the front pivot axis X2 in the hip structure 2 so as to be able to move in rotation about the front pivot axis X2. The turntable 50 is axially symmetrical and is connected to the output shaft of the lateral actuator 32. The turntable 500 can be mounted in the pulley 13 of the front pivot link 10, if necessary. The second ball joint link 49 is then mounted on the turntable 50 while being offset with respect to the front pivot axis X2 to generate a connecting rod crank effect (see, for example, Figures 2 and 6). In this way, the rotation of the turntable 50 relative to the hip structure 2 has the effect of moving the first lateral connecting rod 47 relative to the hip structure 2. The first ball joint link 48 is on the other hand mounted to a second lateral actuation connecting rod 51 (hereinafter, second lateral connecting rod 51) of the lateral pivot link 30, which can be mounted, for example, to the eighth connecting rod 45. Finally, in the exemplary embodiment shown in the drawings, the first lateral connecting rod 47 is attached to the output of the forward connecting rod 14 of the forward pivot link 10. That is, the lateral pivot link 30 is attached to the output of the forward pivot link 10.

[0054] If the front pivot link 10 (and therefore the front connecting rod 14) is fixed, the movement of the turntable 50 by the motor of the lateral actuator 32 relative to the hip structure 2 (and, if applicable, relative to the pulley 13 of the front pivot link 10) has the effect of pushing or pulling (depending on the direction of rotation of the turntable 50) by the connecting rod crank system on the first lateral connecting rod 47, thus moving the second lateral connecting rod 51 (see FIG. 4). The lateral pivot link 30 then rotates about its pivot axis X3. In addition, the sagittal pivot link 20 attached to the output of the lateral pivot link 30 has the effect that a pure rotation of the thigh structure 3 about the lateral pivot axis X3 pivots the sagittal pivot link 20 about the lateral pivot axis X3.

[0055] The sagittal pivot link 20 includes a sagittal connecting rod 23 fixedly attached to one of the connecting rods 38-45, 47, 51 of the lateral pivot link 30, typically the second lateral connecting rod 51 and / or the eighth connecting rod 45. The sagittal connecting rod 23 may be integral with the second lateral connecting rod 51 and / or the eighth connecting rod 45, as applicable. Thus, the pivot axis X1 of the sagittal pivot link 20 moves with the center of rotation of the first ball joint link 48.

[0056] The output shaft 24 of the sagittal actuator 22 is coaxial with the sagittal pivot axis X1 and can be configured to rotate (directly or indirectly via an associated turntable) the thigh structure 3 about the sagittal pivot axis X1. Rotation of the output shaft 24 has the effect of rotating the thigh structure 3 relative to the sagittal connecting rod 23 about the sagittal pivot axis X1.

[0057] As mentioned above, the orthosis 1 may also include mechanical stops 19a-b, 25a-b, 52 configured to limit the articulation of the mechanical hip link 4 and protect the user even if one of the actuators 12, 22, 32 fails. These mechanical stops 19a-b, 25a-b, 25b, 52 are independent. Moreover, they are designed to be easily replaceable so that the joint function can be customized according to the joint function of each user.

[0058] The brace 1 can include at least one of the following mechanical stops 19a-b, 25a-b, 25b, 52: anterior stops 19a-b configured to limit rotation of the thigh structure 3 about the anterior pivot axis X2, sagittal stops 25a-b configured to limit rotation of the thigh structure 3 about the sagittal pivot axis X1, and lateral stop 52 configured to limit rotation of the thigh structure 3 about the lateral pivot axis X3.

[0059] The mechanical stops 19a-b of the front pivot link 10 include, inter alia, at least one lug 19a attached to the pulley 13 so as to project radially relative to the pulley 13 and a number of protrusions 19b attached to the hip structure 2, each lug 19a being configured to contact a corresponding protrusion 19b when the thigh structure 3 reaches a maximum allowable articulation about the front pivot axis X2. Preferably, the brace 1 includes high mechanical stops 19a-b configured to prevent the front pivot link 10 from rotating in a first direction beyond a first maximum articulation, e.g. +20° relative to the neutral position, at rest (abduction movement of the thigh structure 3), and low mechanical stops 19a-b configured to prevent the front pivot link 10 from rotating in a second direction opposite to the first direction of rotation beyond a second maximum articulation, e.g. -10° relative to the neutral position, at rest (adduction movement of the thigh structure 3).

[0060] The mechanical stop 52 of the lateral pivot link 30 may include a lug 52a attached to one of the connecting rods 38-45 forming the lateral pivot link 30, such as the fifth connecting rod 42. The lug 52a is configured to abut against a protrusion fixed to or formed on at least one other connecting rod of the connecting rods 38-45 of the lateral pivot link 30, such as the second connecting rod 39 (integral with the fourth connecting rod 41). Preferably, the brace 1 includes an internal mechanical stop (with a corresponding protrusion attached or formed on the second connecting rod 39) configured to prevent rotation of the lateral pivot link 30 in a first direction, at rest (internal rotational movement of the thigh structure 3), beyond a first maximum joint, e.g., -10° relative to the neutral position, and an external mechanical stop (with a corresponding protrusion attached or formed on the sixth connecting rod 43) configured to prevent rotation of the lateral pivot link 30 in a second direction, which is opposite to the rotation in the first direction, at rest (external rotational movement of the thigh structure 3), beyond a second maximum joint, e.g., +30° relative to the neutral position.

[0061] For example, the lug 52a may include a plaque that is applied and attached to the fifth connecting rod 42 to form an internal mechanical stop and has a first surface 53 configured to contact the second opposing connecting rod 39 and a second surface 54 opposite the first surface 53 to form an external mechanical stop configured to contact the fourth connecting rod 41 (see, for example, FIG. 9 ).

[0062] Preferably, when the pivot links 31-37 of the lateral pivot link 30 are doubled, each mechanical stop 52 can also be symmetrically doubled (high / low) to increase the durability of the stop system. The orthosis 1 then includes upper mechanical stops attached to the upper connecting rods 38-45 and lower mechanical stops attached to corresponding lower connecting rods 39-43 along with the upper mechanical stops.

[0063] The mechanical stops 25a-b of the sagittal pivot link 20, like the mechanical stops of the front pivot link 10, may include at least one lug 24a moving with the output shaft 24 of the sagittal actuator 22 so as to project radially relative to the output shaft 24, and multiple protrusions 25b fixedly attached to the sagittal connecting rod 23. Each lug 25a is configured to contact a corresponding protrusion 25b when the thigh structure 3 reaches a maximum allowable articulation about the sagittal pivot axis X1. Preferably, the orthosis 1 includes high mechanical stops 25a-b configured to prevent the sagittal pivot link 20 from rotating in a first direction at rest (flexion movement of the thigh structure 3) beyond a first maximum articulation, e.g., +115° relative to the neutral position, and low mechanical stops 25a-b configured to prevent the sagittal pivot link from rotating in a second direction opposite to the first rotation direction at rest (extension movement of the thigh structure 3) beyond a second maximum articulation, e.g., -15° relative to the neutral position.

[0064] For example, the lugs 24a of the high and low mechanical stops may be formed by two opposing faces of a connecting rod of the thigh structure (see FIG. 10).

Claims

1. 1. An orthosis comprising: a mechanical hip link connecting a hip structure configured to lie against a hip of a user and a thigh structure configured to receive a leg of the user, the mechanical hip link includes a front pivot link configured to permit rotational movement of the thigh structure relative to the hip structure about a front pivot axis of the brace, a sagittal pivot link configured to permit rotational movement of the thigh structure relative to the hip structure about a sagittal pivot axis of the brace, and a lateral pivot link configured to permit rotational movement of the thigh structure relative to the hip structure about a lateral pivot axis of the brace, the sagittal pivot axis and the forward pivot axis are parallel; The lateral pivot link is composed of a plurality of pivot links connected in pairs by connecting rods to form a virtual pivot link such that the lateral pivot axis intersects a sagittal plane, a plane perpendicular to the anterior pivot axis and containing the sagittal pivot axis, a volume defined by the hip structure and the thigh structure.

2. 2. The orthosis of claim 1, wherein the lateral pivot axis is perpendicular to a plane formed by the anterior pivot axis and the sagittal pivot axis, and a first intersection defined by an intersection of said plane with the lateral pivot axis is located at a distance less than 150 mm, preferably less than 120 mm, preferably less than 100 mm, such as less than 92 mm, from a second intersection defined by an intersection of the sagittal pivot axis with the anterior pivot axis.

3. The brace of claim 2 , wherein the first intersection point is located at a distance of 90 mm or less, preferably 60 mm or less, more preferably 40 mm or less, such as 0 mm to 10 mm from the sagittal plane of the brace.

4. 4. The brace according to claim 2 or 3, wherein the first intersection point is located at a distance of 90 mm or less, preferably 70 mm or less, from a plane parallel to the frontal plane of the brace and containing the sagittal pivot axis.

5. The pivot links constituting the lateral pivot links are two first pivot links connected by a first connecting rod; a second pivot link and a third pivot link connected to a corresponding first pivot link by a second connecting rod and a third connecting rod, respectively, the second pivot link and the third pivot link having the same length; a fourth pivot link connected to the second pivot link by a fourth connecting rod fixedly coupled to the second connecting rod; a fifth pivot link and a sixth pivot link connected to the second pivot link and the fourth pivot link by a fifth connecting rod and a sixth connecting rod, respectively, the fifth pivot link and the sixth pivot link having the same length; a seventh connecting rod connecting the second pivot link and the third pivot link and fixedly coupled to the fifth connecting rod; an eighth connecting rod connecting the fifth pivot link and the sixth pivot link; The appliance of claim 1 , comprising:

6. 6. The orthosis of any one of claims 1 to 5, wherein the anterior pivot link is mechanically connected to the hip structure, the sagittal pivot link is mechanically connected to the thigh structure, and the lateral pivot link is mechanically connected to the anterior pivot link and the sagittal pivot link.

7. a lateral actuator configured to actuate the lateral pivot link, a forward actuator configured to actuate the forward pivot link, and a sagittal actuator configured to actuate the sagittal pivot link, The orthosis of claim 1 , wherein the lateral actuator, the forward actuator, and the sagittal actuator are independent of each other.

8. 8. The orthosis of claim 1, further comprising a lateral actuator configured to actuate the lateral pivot link, the lateral actuator including an actuation connecting rod including a first end connected to the lateral pivot link by a first ball joint link and a second end connected to the hip structure by a second ball joint link.

9. The brace of claim 8 , wherein the second ball joint link is offset relative to the front pivot axis.

10. 10. The orthosis of claim 8 or 9, wherein the lateral actuator includes an actuation turntable coaxial with the front pivot axis.

11. The orthosis of claim 10 , wherein the second ball joint link is connected to the actuation turntable while being offset relative to the front pivot axis.

12. 12. The orthosis of claim 8, wherein a sagittal pivot axis of the sagittal pivot link moves with a center of rotation of the first ball joint link.

13. 13. The orthosis of claim 1, comprising a forward actuator configured to actuate the forward pivot link, the forward actuator being offset relative to the forward pivot axis.

14. 14. The orthosis of claim 13, wherein the front actuator includes two cables attached crosswise to an output shaft of the front actuator on the one hand and to the front pivot link on the other hand for pivoting the front pivot link about the front pivot axis.

15. 15. The brace of any one of claims 1-14, comprising at least one of mechanical stops including a front stop configured to limit rotation of the thigh structure about the anterior pivot axis, a sagittal stop configured to limit rotation of the thigh structure about the sagittal pivot axis, and a lateral stop configured to limit rotation of the thigh structure about the lateral pivot axis.

16. 16. The orthosis of claim 1 , wherein the orthosis is an exoskeleton.

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