Walking aid device for a person

Abstract

The invention relates to a walking aid device (1) for a person, the device comprising a frame (10), a base (100) that is at least vertically movable relative to the frame (10) between a first, low, seated position and a second, high, walking position, a device (20) for adjusting the vertical elevation position of the movable base, which is designed to move the base at least between its first, high position and its second, low position, and a support member (200) which is intended to be in contact with the person and which is movable relative to the frame (10) between a first, low, seated position in which the person can sit thereon and a height-adjustable second, high, walking position in which the person is supported at least partially by the support member in a sitting-standing position, characterised in that it further comprises a shock-absorption means (300) located between the movable base and the support member and designed to allow an alternating upward and downward movement thereof, the alternating movement having at least one vertical component and accompanying the movement of the person when the person is using the walking aid device.

Description

Walking aid device for an individual Technical field of the invention

[0001] The invention relates to the field of assistive devices for walking, such as wheelchairs, particularly for people with reduced mobility. More specifically, the invention concerns a device that allows an individual (for example, a patient undergoing rehabilitation), by providing support at the buttocks and groin, to move in an upright position to assist them in their movements. Previous technique

[0002] In this field, there are wheelchairs that help a person with reduced mobility to stand up and walk. Some of these wheelchairs, known as walking assistance wheelchairs, include a rigid frame that moves on wheels, a seat, particularly a saddle-type seat, that moves vertically relative to the frame, and a system for raising and lowering the seat.

[0003] The movable seat is positioned relative to the frame between a high walking position and a low sitting position, for example, using at least one gas spring. In the high position, the user rests their buttocks and crotch on the movable seat. This type of wheelchair allows an individual to walk comfortably in all directions, particularly during rehabilitation, while allowing their pelvis and buttocks to move within the mobile frame of reference of their gait.

[0004] The aim of these wheelchairs is to closely mimic a natural gait by minimizing, or even eliminating, any resistance to natural movements, particularly those of the pelvis, buttocks, and thighs. These degrees of freedom allow for a walking motion completely independent of the rest of the wheelchair, as long as the individual remains within the intended range of motion.

[0005] In some prior art devices of this type, the seat is completely linked in its movement to the chair. It follows the upward and downward motion of a movable base, and a force applied to the seat results either in a direct reaction from the chair and its base, or no reaction at all if the movable base is intentionally locked in the raised position. This constraint results in several physical phenomena, the most significant of which are discomfort while walking and fatigue with use.

[0006] This system therefore presents numerous disadvantages that make its use complicated and unpleasant for the individual. Indeed, when one places oneself in the moving frame of reference of a walker, several parts of the body are not fixed within it.

[0007] Indeed, when an individual spreads their legs, for example, the pelvis descends as the legs move apart and rises again when the individual assumes a perfectly upright position. Excessive support under the pelvis can therefore potentially create groin pain because as soon as one seeks support in a "straight" standing position, this support prevents the pelvis from descending during walking.

[0008] During walking, the legs move forward and backward relative to the individual's center of gravity. Similarly, compared to sitting, the pelvis rotates slightly counterclockwise when standing up. The bones in contact with the seat are different in sitting and standing positions.

[0009] However, both for reasons of comfort, natural walking and in order not to create dependence on the chair, it is not desirable for it to be fixed in the mobile frame of reference of the individual to avoid the latter causing the chair to move in an unsuitable way (i.e. the chair winds from right to left as it moves forward with each movement of the individual who pushes it alternately with his legs).

[0010] The aim of this invention is to allow the individual to be supported while walking while allowing the limbs in contact with the seat of the chair to move slightly in a way that is uncorrelated with the rest of the chair, all in optimal comfort. Presentation of the invention

[0011] The present invention aims to remedy these drawbacks with a totally innovative approach, in particular a seat with several degrees of freedom allowing the individual to move safely and easily in a less constrained space.

[0012] Accordingly, in a first aspect, the present invention relates to a walking aid device for an individual, comprising a mechanical assembly forming a chassis, - a movable base that can be positioned at least vertically relative to the 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 capable of moving said base at least between its first high position and its second low position, and vice versa, said device for modifying the vertical elevation position of the mobile base comprising at least a first actuator provided with an elastically deformable return means, - a support device intended to support the individual's pelvis and which is mobile 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 supported at least partially by said support device in a sitting-standing position, - characterized in that it further comprises a damping means distinct from said device for modifying the vertical elevation position of the mobile base and interposed only between the mobile base and the support member, said damping means being configured to allow an alternating up-and-down movement of said support member relative to the mobile base, said alternating movement having at least a vertical component, said damping means being able to accompany the up-and-down movements of said individual's pelvis when the latter uses the walking aid device, independently of the actuation of said device for modifying the vertical elevation position of the mobile base.

[0013] This solution, particularly suited to a walking assistance wheelchair (but not exclusively), offers a first degree of freedom represented by a suspension system that allows the support element to move up and down during walking, without activating the actuators that allow the movement of the device's mobile base relative to the chassis (i.e., the mechanism that allows the device to stand upright). Previously, one had to imagine that as soon as a person took a step, they would either crash against the support element, which could cause pain, or they simply could not place their leg forward, which prevented them from taking a step (if the actuators were of the high-force type or were locked), or they would activate the actuators while walking, which would cause the support element to descend (if the actuators were of the low-force type).Thanks to this solution, the support can follow the up-and-down movements of the pelvis during walking, with a holding and suspension force independent of the actuators of the device's moving base's lifting / lowering mechanism. When the patient walks, and if the device is properly adjusted, an alternation between "compressed" and "decompressed" positions occurs (without necessarily reaching both upper and lower stops) during walking.

[0014] The invention is implemented according to the embodiments and variants set out below, which are to be considered individually or in any technically feasible combination.

[0015] According to a preferred embodiment of the invention, in the lower position of the mobile base, the individual is in a seated position while in the upper position of the mobile base, the individual is in a standing position, his pelvis being permanently supported by the support organ in each of these positions.

[0016] According to a specific aspect, the movement of the mobile base when it passes from the high position to the low position, and conversely, the effect of the action of the device modifying the vertical position of elevation of the mobile base, involves at least one translational movement.

[0017] In addition, the movable base moves linearly backwards when moving from the high position to the low position, and conversely, forwards when moving from the low position to the high position.

[0018] According to a particular aspect of the invention, the displacement of the support member during its alternating movement up and down relative to the moving base includes at least one translational movement.

[0019] Advantageously, the support organ consists of a saddle equipped with a comfortable seat configured to receive at least partially the buttocks of the individual in the latter's sitting and standing position.

[0020] Preferably, the damping means includes at least one arm connecting the saddle to the movable base.

[0021] According to a particular embodiment of the present invention, the damping means comprises at least a second actuator including a second elastically deformable return means, distinct from said first return means, said second elastically deformable return means being adapted to force the saddle towards the high position.

[0022] More specifically, the damping means includes at least one cylinder having a rod having a first end articulated on the saddle and a second end articulated on the movable base.

[0023] According to a preferred embodiment of the present invention, the damping means comprises at least one deformable parallelogram with two arms articulated respectively on the mobile base and on the saddle around four pivots so as to form an articulation system.

[0024] More specifically, the deformable parallelogram joint system includes - two first upper arms articulated around two parallel pivots passing respectively through a dorsal reinforcement of the mobile base on one side and the saddle on the other, and - two second lower arms articulated around three pivots passing respectively through the dorsal reinforcement of the mobile base, the saddle and an upper end of the cylinder rod.

[0025] According to a complementary aspect, the damping means further comprises at least one intermediate central base connected to the saddle and on which the arms of each parallelogram are articulated.

[0026] Advantageously, the cylinder rod is surrounded by a compression spring associated with an adjustable calibration means to adjust its maximum permissible load in use.

[0027] According to another particularly interesting aspect, the device includes a lower yoke articulated relative to the damping means around a transverse pivoting axis allowing said saddle to tilt at least in a first direction relative to the movable base.

[0028] This solution provides a 2ème The degree of freedom represented by a pivot in the patient's sagittal plane. The goal is to follow the natural anteversion and retroversion pivots during walking and standing. Pelvic rotation during standing necessitates saddle movement to achieve a comfortable position both sitting and standing, as well as during alternating leg movements. It also provides necessary support under the ischial tuberosities when the saddle tilts forward while standing. When the patient is standing, they can easily oscillate on the saddle with pelvic movements. The fact that the saddle can tilt forward also relieves pressure on the front of the groin during walking, improving comfort for patients who receive more support at the rear (ischial tuberosities and buttocks).

[0029] In particular, the lower yoke is articulated within a range of approximately 10° in a first direction of pivoting in which the front of the saddle is inclined downwards and approximately 5° in a second opposite direction in which the front of the saddle is inclined upwards, and preferably between approximately 7° in the first direction of pivoting and approximately 2° in the second opposite direction.

[0030] According to another important aspect of the present invention, the saddle comprises a top plate supporting a seat and the device further comprises means for moving said top plate relative to the movable base in an alternating motion in a horizontal plane.

[0031] Preferably, the upper plate pivots relative to a lower plate of the saddle between two extreme positions around a frontal axis of rotation.

[0032] This solution provides a third degree of freedom represented by a pivot at the front of the individual around which the saddle can oscillate in the plane horizontal. Before this, one had to imagine that as soon as a person took a step, the force applied by the backward leg tended to push the device backward with a rotational movement in the horizontal plane. The alternating movements of walking then created a device whose wheels, instead of being parallel to the direction of travel when the patient moved forward, followed a kind of sinusoidal path resembling the movements of a snake. Besides the visually bizarre appearance, this posed a problem because the force required to move the leg backward was directly related to the weight of the device and the quality of the wheel / ground contact. It was then much more difficult to move forward and simply walk without having to exert extra effort. This also created pain in the back of the leg.Thus, when the patient moves forward, the recoil of the supporting leg (fixed leg) in the reference frame of the moving device causes contact between the back of the leg and the edge of the saddle so that the saddle oscillates around the pivot at the front, which will allow, during walking, only the upper part of it to move.

[0033] More specifically, the upper plate has two arched through slots, each housing a roller attached to the lower plate, the slots sliding alternately around the fixed rollers to guide the rotation of the upper plate in one direction or the other around the front axis of rotation.

[0034] In particular, the upper plate pivots relative to the lower plate around the front axis of rotation at an angle of approximately plus or minus 10° on either side of a neutral position, and preferably of approximately plus or minus 7°, the saddle also having stop means limiting the rotation of the upper plate relative to the lower plate and consisting of two screws fixed under the upper plate and equipped respectively with flexible seals adapted to bear against a peripheral edge of the lower plate in the two extreme positions.

[0035] According to a complementary aspect, the device includes at least two dorsal tension springs, each connecting a dorsal lateral ear of the lower plate to a dorsal central lug of the upper plate, or vice versa, so as to produce an alternating elastic restoring force when pivoting said upper plate around the frontal axis of rotation.

[0036] According to another preferred embodiment of the present invention, the upper plate slides at least laterally relative to a lower plate of the saddle between two extreme positions on either side of a central position.

[0037] Preferably, the upper plate and the lower plate are respectively provided for this purpose with at least two parallel guide grooves receiving rollers sliding respectively inside the latter.

[0038] In particular, the upper plate is traversed through its thickness by a frontal slot and two aligned and symmetrical dorsal slots, while the lower plate has three pebbles cooperating respectively with said traversing slots.

[0039] More specifically, the maximum lateral distance between the upper plate and the lower plate between the two extreme positions is approximately 10 centimeters, and preferably between approximately 6 and 8. centimeters, each roller having a flexible stop joint against the ends of the corresponding guide groove.

[0040] According to a particularly interesting aspect of the present invention, the saddle is provided with two independent right and left seat portions, each seat portion comprising an ergonomic comfort foam supporting each buttock of an individual and a seat support of similar shape, the seat supports being movably linked to the upper plate and able to move laterally away from / towards each other.

[0041] Preferably, the top plate and each of the two seat supports are respectively equipped with sets of fixed rods and through slots, cooperating with each other in pairs and arranged respectively in front and back positions, one rod of one of a considered support and of the top plate penetrating into a corresponding slot of the other of the top plate and of the considered support, so that the lateral separation / combination of the two seat supports causes the sliding of a slot relative to an associated rod.

[0042] More specifically, the rods and associated slots are each three in number per seat support, namely a first front rod attached to the top plate cooperating by penetration into a first straight front slot belonging to a corresponding seat support, a second middle rod attached to a seat support and cooperating by penetration into a second straight middle slot of the top plate, and a third back rod attached to said seat support and cooperating by penetration into a third back slot of the top plate, the alternating movement of a seat support relative to the top plate being accompanied by the relative linear sliding of the rods in the associated slots according to a lateral displacement and incidentally from front to back.

[0043] In particular, the lateral spacing range of the seat supports relative to each other is between approximately 0 centimeters, in which case said seat supports are in lateral contact with each other, and approximately 10 centimeters for maximum relative spacing, preferably between approximately 6 and 8 centimeters, each seat support being movable independently of the other support and over a distance equivalent to a maximum of half of said maximum relative spacing.

[0044] According to an additional aspect, the saddle further comprises mechanical means for locking each seat support in a determined position relative to the upper plate, said locking means comprising at least one removable indexing finger cooperating with a series of opposite holes provided in the thickness of the upper plate, each hole corresponding to a predetermined spacing of a seat support relative to the upper plate. Brief description of the figures

[0045] 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:

[0046] [Fig. 1] Figure 1 is a general perspective view of a technical walking assistance chair according to the present invention,

[0047] [Fig. 2] Figure 2 is a detailed perspective view of Figure 1 representing a movable base and a saddle-type support element incorporating damping means,

[0048] [Fig. 3] Figure 3 is an exploded perspective view of Figure 2,

[0049] [Fig. 4] Figure 4 is a side view of the saddle including damping means in a first extreme position and a calibration device in a first state,

[0050] [Fig. 5] Figure 5 is a view similar to Figure 4 in which the damping means are in a second median position,

[0051] [Fig. 6] Figure 6 is a view similar to Figure 5 in which the calibration device is in a second state,

[0052] [Fig. 7] Figure 7 is a view similar to Figure 5 in which the calibration device is in a third state,

[0053] [Fig. 8] Figure 8 is a view similar to Figure 5 in which the damping means are in a third extreme position,

[0054] [Fig. 9] Figure 9 is a view similar to Figure 5 in which the saddle is in a first tilted position along a transverse axis,

[0055] [Fig. 10] Figure 10 is a view similar to Figure 9 in which the saddle is in a second tilted position along the transverse axis,

[0056] [Fig. 11] Figure 11 is a top view of the saddle with seat cushions and their respective supports in a first rotational position about a vertical axis,

[0057] [Fig. 12] Figure 12 is a view similar to Figure 11 in which the seat cushions and their respective supports have notably been removed,

[0058] [Fig. 13] Figure 13 is a view similar to Figure 11 in which the seat cushions and their respective supports are in a second rotation position,

[0059] [Fig. 14] Figure 14 is a view similar to Figure 13 in which the seat cushions and their respective supports have notably been removed,

[0060] [Fig. 15] Figure 15 is a top view of the saddle in which the seat cushions and their respective supports are in a first lateral spread position,

[0061] [Fig. 16] Figure 16 is a view similar to Figure 15 in which the seat cushions have been removed,

[0062] [Fig. 17] Figure 17 is a view similar to Figure 16 in which the seat cushion supports have been removed,

[0063] [Fig. 18] Figure 18 is a view similar to Figure 15 in which the seat cushions and their respective supports are in a second lateral separation position,

[0064] [Fig. 19] Figure 19 is a view similar to Figure 18 in which the seat cushions have been removed,

[0065] [Fig. 20] Figure 20 is a view similar to Figure 18 in which the seat cushion supports have been removed,

[0066] [Fig. 21] Figure 21 is a top view illustrating a variant embodiment of figures 12 and 13 with the saddle in a centered position,

[0067] [Fig. 22] Figure 22 is a view similar to Figure 21 in which the seat cushions and their respective supports have been removed,

[0068] [Fig. 23] Figure 23 is a top view illustrating a variant embodiment of Figure 21 in which the saddle is in a second lateral offset position,

[0069] [Fig. 24] Figure 24 is a view similar to Figure 23 in which the seat cushions and their respective supports have been removed,

[0070] [Fig. 25] Figure 25 is a view of an alternative embodiment of the damping means of Figure 2, and

[0071] [Fig. 26] Figure 26 is a view of another variant embodiment of the damping means of Figure 2. Description of the implementation methods

[0072] Firstly, the present description is given without limitation, each characteristic of an embodiment being able to be combined with any other characteristic of any other embodiment described and / or represented.

[0073] It should also be noted from the outset that the figures are not necessarily to scale, without this hindering their understanding.

[0074] Finally, identical, similar or technically equivalent parts present in different figures carry the same numerical references in order to facilitate the transition from one figure to another.

[0075] Figure 1 is a general schematic perspective view representing a walking aid device 1 according to the present invention, and more specifically 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 get up to walk as normally as possible using said chair.

[0076] For this purpose, the walking aid chair 1 mainly comprises: - a mechanical assembly of metal parts (especially tubular) forming a chassis 10 mounted on casters 3, - a base 100 that is movable at least vertically relative to said chassis 10 between a first low seating position and a second high walking position, - a support element 200 intended to support the pelvis of an individual and supported by the base and 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 supported at least partially by said support element in a sitting-standing position, said support element 200 in this case taking the form of a saddle provided with a comfortable seat, and - a device 20 for modifying the vertical elevation position of the mobile base 100, designed to move said base at least between a first low seating position and a second high walking position, and vice versa, this device comprising at least one actuator including a first elastically deformable return means, and - a damping means 300 located between the mobile base 100 and the support member 200 and designed to allow an alternating up and down movement of the latter relative to the mobile base 100, said alternating movement having at least one vertical component, said damping means 300 being able to accompany the up and down movements of the pelvis of said individual when the latter uses the walking aid device 1, independently of the actuation of said device 20 for modifying the vertical elevation position of the mobile base.

[0077] More specifically, the damping means 300 is separate from the device 20 for modifying the vertical elevation position of the mobile base 100 and is interposed only between the mobile base 100 and the support member 200.

[0078] 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.

[0079] 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 normally seated in the chair 1.

[0080] 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 sitting normally in the chair 1 and looking above him or towards the ground.

[0081] The object of the present invention relates mainly to the support member 200 (saddle) and its relationship with the mobile base 100 and does not relate to the relationship between said mobile base 100 and the chassis 10. It is just specified that the device 20 for modifying the vertical elevation position of the mobile base 100 comprises a linear actuator materialized in the present case by two lateral pairs of bars each carrying an armrest (right left) and taking the form of parallelograms deformable by sliding forward and backward, and vice versa.

[0082] It should be noted, however, that the movement of the mobile base 100 when moving from the high to the low position, and vice versa, involves at least one translational movement. More precisely, the mobile base 100 moves linearly towards the rear of the chair 1, remaining parallel to the ground, when moving from the high to the low position. Conversely, the mobile base 100 moves linearly forward (still remaining parallel to the ground) when moving from the low to the high position.

[0083] It should also be noted that the individual seated in the chair, with their pelvis supported by the support structure 200, nevertheless maintains direct contact with the ground, whether in a seated position with legs bent, generally forming an angle close to 90° between their femur and tibia, in a "lifting" position, and of course in a standing position. This contrasts with certain exoskeletons in which the individual's feet are supported by supports (similar to large soles), themselves connected to articulated mechanized mechanisms that simulate walking, so that the individual never places their feet directly on the ground, as the supports / soles do so for them. In this latter case, the individual is transported and, moreover, generally does not take the steps themselves, since they are completely assisted and supported in their movements (this is the very principle of such exoskeletons).

[0084] Figures 2 and 3 are respectively three-quarter front perspective and exploded view representations of the movable base 100 and the saddle 200 of the chair 1 of figure 1.

[0085] The mobile base 100 typically includes a central dorsal reinforcement 110 in the form of two rigid parallel metal (steel, for example) legs 111 joined together at a distance by means of a first dorsal connecting piece 112 and a second median piece. The first dorsal connecting piece 112 is connected to a circumferential reinforcement 120 forming a kind of belt extending around and away from the saddle over approximately 180° and supporting a backrest 130. The second central connecting piece 113 is connected to a transverse reinforcement 140 in the shape of a horn, the arms of which rise to attach laterally to the circumferential reinforcement 120. Finally, the movable base 100 is connected to a damping means 300, described in more detail later, on which the saddle 200 is mounted.

[0086] The 200 saddle, for its part, includes, from bottom to top: - a clevis 210, on the one hand pivotally linked by means of damping 300 and on the other hand fixed (using several screws for example) to a lower plate 220, it being understood that the clevis 210 and the lower plate 220 may form a single piece if necessary, - an upper plate 230 that is movable in rotation or translation in a horizontal plane XY relative to the lower plate 220, - two symmetrical seat supports 260 along the longitudinal axis XX, - two seats 270 of the ergonomic comfort foam type linked respectively to the seat supports 260, for example by prominent rods protruding perpendicularly from the seat supports 260.

[0087] The vertical damping means 300 generally has the shape of an arm connecting the saddle 200 locally to the mobile base 100 and comprising for this purpose - an intermediate central base 310 articulated on the yoke 210 around a transverse axis 215 (i.e. parallel to the direction YY) to allow the saddle 200 to be pivoted so as to raise or lower the front of the latter by a few degrees, typically in an angular range between approximately 10° in a first direction of pivoting in which the front of the saddle is inclined downwards (figure 9) and approximately 5° in a second opposite direction in which the front of the saddle is inclined upwards (figure 10), and preferably between approximately 7° in the first direction of pivoting and approximately 2° in the second opposite direction, - a cylinder 320 having ends 321 and 322 which are articulated respectively on the one hand at a pivot 114 of the dorsal reinforcement 110 and on the other hand to a lateral articulation system 340 (described in more detail later), said cylinder 320 forming an actuator comprising a deformable return means elastically adapted to move the saddle towards the upper position and comprising more specifically: * a main rod 323 surrounded by a compression spring 324 placed under tension between a first upper support washer 325 and a second lower support washer 326, * an adjustable calibration device 327 for adjusting its maximum permissible load in use, in the form of a rotating knob exerting a pressure force on the second lower support washer 326, and * a tare scale 328 located at the level of the wheel 327.

[0088] The lateral articulation system 340 comprises two parallel deformable parallelograms, each including a straight upper lateral leg 341 and a lower lateral leg 342 in the overall shape of an "L", the upper lateral leg 341 of each parallelogram 340 being articulated on one side to the dorsal reinforcement 110 around of a first upper transverse axis 343 and on the other hand on the central base 310 around a second upper transverse axis 344 while the lower lateral leg 342 is articulated on the dorsal reinforcement 110 around a first median transverse axis 345, on the central base 310 around a second median transverse axis 346 and on the end 321 of the cylinder rod 323 around a third lower transverse axis 347, these five axes 343 to 347 being parallel to each other and extending along the transverse direction Y-Y.

[0089] The vertical travel of the saddle 200 on its damping means 300 between the extreme low position illustrated by figure 4 and the extreme high position illustrated by figure 8 is from a few millimeters to a few centimeters, for example between about 1 and 10 centimeters, and preferably between about 1 and 5 centimeters depending on the length of the cylinder rod 323 and the compression spring 324, and the amplitude of movement of the deformable parallelograms 340.

[0090] Thus, Figure 4 illustrates the saddle 200 in an extreme low position with a median setting (position 1) of the cylinder rod 232 using the knob 327, Figure 5 illustrates the saddle 200 in an intermediate raised position (mid-stroke) with a median setting (position 1) of the cylinder rod 232, Figure 6 illustrates the saddle 200 in the intermediate raised position (50%) with a minimum setting (position 0) of the cylinder rod 323, Figure 7 illustrates the saddle 200 in the intermediate raised position (50%) with a maximum setting (position 2) of the cylinder rod 323, and Figure 8 illustrates the saddle 200 in the maximum raised position (100%) with a median setting (position 1) of the cylinder rod 323.

[0091] Figures 11 to 14 illustrate the horizontal pivoting between the lower plate 220 and the upper plate 230 along the plane defined by the directions XX and YY. This pivoting is made possible by a front axis 240 extending perpendicularly to said plates (i.e., substantially along the height direction ZZ) and connecting them. As can be seen in Figures 12 and 14, the upper plate 230 also has two through-slots 231, each housing a roller 221 fixed to the lower plate 220. The slots 231 slide alternately around and along the fixed rollers 221 to guide the rotation of the upper plate 230 in one direction or the other around the front axis of rotation 240.

[0092] The angular range of rotation between the upper and lower plates is approximately plus or minus 10° on either side of a "centered" neutral position, and preferably approximately plus or minus 7°.

[0093] In the present case, the upper plate 230 supporting the seat supports 260 and the foams 270 is pivoted in one direction (counterclockwise when looking at the saddle from above, illustrated by arrow R) by approximately 7° in figures 11 and 12 and by approximately 2° (in the same direction) in figures 13 and 14. The lower plate 220 remains fixed to the clevis 210, which is itself linked to the central base 310 by the axis 215.

[0094] The saddle 200 also features stop means limiting this rotation in the two extreme pivoting positions. To this end, as can be seen in Figure 5, these limiting means comprise, on the one hand, two screws fixed 232 under the upper plate and respectively equipped with flexible seals 233 adapted to bear against a peripheral edge of the lower plate 220 in both extreme positions (oscillations from right to left and vice versa around the frontal axis 240).

[0095] Finally, the saddle 200 has at least two dorsal tension springs 250 each stretched between a dorsal lateral ear 224 of the lower plate 220 and a dorsal central lug 234 of the upper plate 230 so as to produce an alternating elastic restoring force during the pivoting (back and forth) of said upper plate 230 around the frontal axis of rotation 240. An inverted structure is also conceivable (dorsal lateral ears provided on the upper plate 230 and dorsal central lug provided on the lower plate 220).

[0096] According to an alternative embodiment illustrated by figures 21 to 24, the displacement in the XY plane of the upper plate 230 relative to the lower plate 220 between two extreme positions on either side of a central position is carried out by linear sliding and no longer by pivoting about the front axis 240.

[0097] For this purpose, the upper plate 230 and the lower plate 220 are respectively provided with at least two parallel dorsal linear guide grooves (slots) 235 receiving two rollers 225 fixed to the lower plate 220 and sliding inside said grooves 235, and a frontal groove (slot) 236 centered and parallel to the dorsal grooves 235 and receiving a roller 226 fixed to the lower plate 220.

[0098] The maximum lateral spacing range of the upper plate 230 relative to the lower plate 220 between the two extreme positions (grooves laterally against the rollers) is approximately 10 centimeters, and preferably between approximately 6 and 8 centimeters, each roller 225 and 226 having a flexible seal serving as a flexible stop against the edges of the corresponding guide groove 235 or 236.

[0099] As previously mentioned, the saddle 200 is also equipped with two independent seat supports 260, right and left, supporting respectively ergonomic comfort foams 270 on which the individual's buttocks rest at least partially, and possibly part of the individual's crotch.

[0100] Finally, the seat supports 260 are movably linked to the upper plate 230 and can thus move linearly away from / towards each other along a plane defined by the directions XX and YY on either side of a central position, this sliding movement having at least one lateral component along the direction YY.

[0101] For this purpose, as represented by figures 15 to 20 which illustrate two distinct positions (first extreme position narrowed on figures 15 to 17 and second extreme position spread laterally on figures 18 to 20), the upper plate 230 and each of the two seat supports 260 are respectively equipped with sets of fixed rods 238 and through slots 262 cooperating with each other in pairs and arranged respectively in front and back positions.

[0102] More specifically, each seat support 260 comprises a central rod 238b and a dorsal rod 238c respectively penetrating into a corresponding central slot 262b and a corresponding dorsal slot 262c, while said upper plate 232 comprises two front rods 238a respectively penetrating into a front slot 262a of each support seat 260, which forms 3 pairs of slots / rods in total (or a trio of rod / slot guide assemblies per seat support 260).

[0103] Thus, each seat support 260 can move laterally, independently of the other, from an extreme central position by sliding along the upper plate 230 and sliding the slots 262a, 262b and 262c along the rods 238a, 238b 238c.

[0104] It should be noted that all the slots are slightly inclined backwards (towards the back) so that the lateral sliding of a seat support 260 in a direction YY is accompanied by a recoil of the latter in a direction XX relative to the upper plate 230, which remains fixed. Of course, the two seat supports 260 can be spaced the same distance apart or asymmetrically.

[0105] The range of spacing of the seat supports 260 relative to each other, materialized by the graduated mark 345, is between approximately 0 centimeters, in which case the said seat supports 260 are in lateral contact with each other, and approximately 10 centimeters for the maximum relative spacing, preferably between approximately 6 and 8 centimeters, each seat support 260 being in fact movable by half of this spacing.

[0106] The saddle 200 further includes mechanical locking means 280 in a determined position of each seat support 260 relative to the upper plate 230. For this purpose, said locking means 280 include at least one removable indexing finger 282 passing through an orifice 284 of each seat support 260 and cooperating with a series of housings 286 provided opposite each other in the thickness of the upper plate 230, each housing 286 then corresponding to a predetermined spacing of a seat support 260 relative to the upper plate 230.

[0107] We can therefore imagine that the 284 housings are regularly spaced from each other so as to create a lateral spacing of about 1 cm at each "notch", so that the five 284 housings shown allow a total spacing of 10 cm as previously indicated.

[0108] It is also possible, for various reasons, to position one seat support 260 a different number of centimeters from the other seat support 260 to create asymmetry. The central numerical marker 345 allows verification of the respective spacings of each seat support 260, which notably allows the comfort foam seats 270 to be positioned in the best possible way to adapt them to the morphology of the individual using the walking aid chair 1 according to the invention.

[0109] Figure 25 is a variant embodiment of the previous figures with regard to the vertical damping means 300. In this embodiment, the cylinder rod + spring pair is replaced by a simple torsion spring 350, of the "clothespin" type, attached between the central base 310 and the dorsal reinforcement 110. The operation of this torsion spring is similar to the compression spring described previously in that it tends to push the saddle upwards and "dampen" the weight of the individual when the latter rests at least partially their buttocks on the comfort foams 270.

[0110] Similarly, another alternative is shown in Figure 26 in which the damping means 300 is a leaf bending spring 360 hooked between the central base 310 and the dorsal reinforcement 110.

[0111] 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 within the scope of the present invention.

[0112] Thus, the compression spring 324 and the cylinder rod 323 can be replaced by a gas piston, or any other type of linear actuator, or even by a block of elastomeric material (or equivalent) elastically deformable under pressure, the advantage of the spring being that it can be easily pre-stressed to different forces.

[0113] It is also possible to replace the damping means in the middle position (cylinder rod + spring or its variants) with two actuators in order to improve the balance of the damping system and to better distribute / increase the force created, or for more precision in preload settings.

[0114] The angle of the 300 damping element is chosen to maximize the system's effort while minimizing interference with walking. A more direct spring angle would provide more force but would hinder walking. The angle ratios and the ratio between spring compression and saddle descent can also be adjusted.

[0115] The 340 articulation system could incorporate a single deformable parallelogram, for example, central or asymmetrical with one arm on the left and one on the right, but this would require redesigning the compression spring and relocating it. Such a single deformable parallelogram system could also accommodate a leaf bending spring or a torsion spring.

[0116] The different types of springs described can also be replaced or supplemented by a block of elastically deformable elastomer in compression.

[0117] The front axis of rotation 240 between the upper plate 230 and the lower plate 220 of the saddle 200 could be placed closer to the "center" of the saddle, for example substantially above the damping means 300. As a result, the relative movements would be different but the lower plate of the saddle could thus be much "shorter".

[0118] The 250 tension back springs for the elastic return in rotation of the upper plate 230 relative to the lower plate 220 could be replaced by a single torsion spring or by small pistons.

[0119] The angular range of rotation of the upper plate 230 relative to the lower plate 220 could also be limited by intermediate stops, and / or be asymmetrical.

[0120] The yoke 210 and the lower plate 220 of the saddle 200 could be formed as a single molded or machined piece. Similarly, the central base 310 could be integral with the yoke 210 or the lower plate 220.

[0121] One could imagine that each seat support 260 is individually tiltable forward and backward (along an axis parallel to the YY direction, for example, in a mid-position under said seat support) relative to the upper plate 230, and not the entire saddle (axis 215), by a few degrees on either side of a neutral position (for example, horizontal, but not necessarily). Similarly, one could imagine that each seat support 260 is individually tiltable along an axis parallel to the direction XX to slightly orient the 270 comfort foams outwards or inwards.

[0122] The 215 axis of saddle inclination 200 could be moved forward or backward in the XX direction while remaining close to the individual's center of gravity.

[0123] It would be possible to have not two half-saddles that can be separated, but a comfortable one-piece saddle that is suitable for all populations.

[0124] Finally, the invention is also adaptable to a gantry or a walker equipped with a support element similar to a saddle.

Claims

Demands Claim 1. A walking aid device (1) for an individual, comprising: a mechanical assembly forming a chassis (10), - a movable base (100) that can be moved at least vertically relative to said chassis (10) between a first low seating position and a second high walking position, - a device (20) for modifying the vertical elevation position of the mobile base (100) capable of moving said base at least between its first high position and its second low position, and vice versa, said device (20) for modifying the vertical elevation position of the mobile base (100) comprising at least a first actuator provided with an elastically deformable return means, - a support member (200) intended to support the individual's pelvis 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 at least partially supported by said support member (200) in a sitting-standing position, characterized in that it further comprises a damping means (300) distinct from said device (20) for modifying the vertical elevation position of the movable base (100) and interposed only between the movable base (100) and the support member (200), said damping means (300) being configured to allow an alternating up-and-down movement of said support member (200) relative to the movable base (100), said alternating movement having at least a vertical component,said damping means (300) being capable of accompanying the upward and downward movements of the pelvis of said individual when the latter uses the walking aid device (1), independently of the actuation of said device (20) for modifying the vertical elevation position of the mobile base (100). Claim 2. Device (1) according to claim 1, characterized in that in the lower position of the movable base (100), the individual is in a seated position while in the upper position of the movable base (100), the individual is in a standing position, his pelvis being permanently supported by the support member (200) in each of these positions. Claim 3. Device according to any one of the preceding claims, characterized in that the displacement of the mobile base (100) when it passes from the high position to the low position, and vice versa, under the effect of the action of the device (20) for modifying the vertical elevation position of the mobile base (100), includes at least one translational movement. Claim 4. Device according to any one of the preceding claims, characterized in that the displacement of the support member (20) during its alternating movement up and down relative to the movable base (100) includes at least one translational movement. Claim s. Device (1) according to any one of the preceding claims, characterized in that the support member (200) consists of a saddle provided with a comfort seat (270) configured to receive at least partially the buttocks of the individual in the seated and standing position of the latter. Claim s. Device (1) according to claim 5, characterized in that the damping means (300) comprises at least one arm locally connecting the saddle (200) to the movable base (100). Claim 7. Device (1) according to claim 5 or 6, characterized in that the damping means (300) comprises at least one second actuator (320) comprising a second elastically deformable return means (324; 350; 360), distinct from said first return means, said second elastically deformable return means (324; 350; 360) being adapted to force the saddle (200) towards the high position relative to the movable base (100). Claim 8. Device (1) according to claim 7, characterized in that the damping means (300) comprises at least one cylinder (320) having a rod (323) having a first end (321) articulated on the saddle (200) and a second end (322) articulated on the movable base (100). Claim 9. Device (1) according to claim 7 or 8, characterized in that the damping means (300) comprises at least one deformable parallelogram with two arms (341; 342) articulated respectively on the movable base (100) and on the saddle (200) around four pivots so as to form an articulation system (340). Claim 10. Device (1) according to claim 9, characterized in that the deformable parallelogram articulation system (340) comprises: - two first upper arms (341) articulated around two parallel pivots (343, 344) passing respectively through a dorsal reinforcement (110) of the mobile base (100) on the one hand and the saddle (200) on the other hand, and - two second lower arms (342) articulated around three pivots ((345, 346, 347) passing respectively through the dorsal reinforcement (110) of the mobile base (100), the saddle (200) and an upper end (321) of the rod (323) of the cylinder (320). Claim 11. Device (1) according to claim 9 or 10, characterized in that the damping means (300) further comprises at least one intermediate central base (310) connected to the saddle (200) and on which the arms (341; 342) of each parallelogram are articulated. Claim 12. Device (1) according to any one of claims 8 to 10, characterized in that the rod (232) of the cylinder (320) is surrounded by a compression spring (324) associated with a calibration means (327) adjustable to adjust its maximum permissible load in use. Claim 13. Device (1) according to any one of claims 5 to 12, characterized in that the saddle (200) comprises a lower yoke (210) articulated relative to the damping means (300) around a transverse pivot axis (215) allowing said saddle (200) to tilt at least in a first direction relative to the movable base (100). Claim 14. Device (1) according to claim 13, characterized in that the lower yoke (210) is articulated in a range between approximately 10° in a first direction of pivoting in which the front of the saddle (200) is inclined downwards and approximately 5° in a second opposite direction in which the front of the saddle (200) is inclined upwards, and preferably between approximately 7° in the first direction of pivoting and approximately 2° in the second opposite direction. Claim 15. Device (1) according to any one of claims 5 to 14, characterized in that the saddle (200) comprises an upper plate (230) supporting a seat (270) and the device (1) further comprises means for moving said upper plate (230) relative to the movable base (100) in an alternating motion in a horizontal plane (XY). Claim 16. Device (1) according to claim 15, characterized in that the upper plate (230) pivots relative to a lower plate (220) of the saddle (200) between two extreme positions around a front axis of rotation (240). Claim 17. Device (1) according to claim 16, characterized in that the upper plate (230) has two arched through slots (231) each housing a roller (221) fixed to the lower plate (220), the slots (231) sliding alternately around the fixed rollers (221) to guide the rotation in one direction or the other of the upper plate (230) around the front axis of rotation (240). Claim 18. Device (1) according to claim 17, characterized in that the upper plate (230) pivots relative to the lower plate (220) around the front axis of rotation (240) at an angle of approximately plus or minus 10° on either side of a neutral position, and preferably of approximately plus or minus 7°, the saddle (200) further comprising stop means limiting the rotation of the upper plate (230) relative to the lower plate (220) and consisting of two screws (232) fixed under the upper plate (230) and respectively equipped with flexible seals (233) adapted to bear against a peripheral edge of the lower plate (220) in the two extreme positions. Claim 19. Device (1) according to claim 18, characterized in that it comprises at least two dorsal tension springs (250) each connecting a dorsal lateral ear (224) of the lower plate (220) to a dorsal central lug (234) of the upper plate (230), or vice versa, so as to produce an alternating elastic restoring force when pivoting said upper plate (230) about the front axis of rotation (240). Claim 20. Device (1) according to claim 15, characterized in that the upper plate (230) slides at least laterally relative to a lower plate (220) of the saddle (200) between two extreme positions on either side of a central position. Claim 21. Device (1) according to claim 20, characterized in that the upper plate (230) and the lower plate (220) are respectively provided for this purpose with at least two parallel guide grooves (235; 236) receiving rollers (225; 226) sliding respectively inside the latter. Claim 22. Device (1) according to claim 21, characterized in that the upper plate (230) is traversed in its thickness by a front slot (236) and two dorsal slots (235) aligned and symmetrical, while the lower plate (220) has three rollers (225, 226) cooperating respectively with said through slots (235, 236). Claim 23. Device (1) according to claim 22, characterized in that the maximum lateral separation range of the upper plate (230) relative to the lower plate (220) between the two extreme positions is approximately 10 centimeters, and preferably between approximately 6 and 8 centimeters, each roller (225; 226) having a flexible stop seal against the ends of the corresponding guide groove (235; 236). Claim 24. A device according to any one of claims 15 to 23, characterized in that the saddle (200) is provided with two independent right and left seat portions, each seat portion (260) comprising an ergonomic comfort foam (270) supporting one buttock of an individual and a seat support (260) of similar shape, the seat supports (260) being linked in a movable manner to the upper plate (230) and able to move laterally away from / towards each other. Claim 25. Device (1) according to claim 24, characterized in that the upper plate (230) and each of the two seat supports (260) are respectively equipped with sets (238; 262) of fixed rods (238a; 238b; 238c) and through slots (262a; 262b; 262c) cooperating with each other in pairs and arranged respectively in a front and back position, a rod belonging to one of a support (260) considered and the upper plate (230) penetrating into a corresponding slot belonging to the other of the upper plate (230) and the support (260) considered, so that the lateral separation / approach of the two seat supports (260) causes the sliding of a slot (262) relative to an associated rod (238). Claim 26.Device (1) according to claim 25, characterized in that the rods (238) and associated slots (262) are each three in number per seat support (260), namely a first front rod (238a) integral with the upper plate (230) cooperating by penetration into a first straight front slot (262a) belonging to a corresponding seat support (260), a second middle rod (238b) integral with a seat support (260) and cooperating by penetration into a second straight middle slot (262b) of the upper plate (230), and a third back rod (238c) integral with said seat support (260) and cooperating by penetration into a third back slot (262c) of the upper plate (230), the alternating movement of a seat support (260) relative to the upper plate (230) being accompanied by the relative linear sliding of the rods (238) in the associated slots (262) according to a lateral displacement and incidentally from front to back. Claim 27. Device (1) according to claim 26, characterized in that the range of lateral spacing of the seat supports (260) relative to each other is between about 0 centimeters, in which case said seat supports (260) are in lateral contact with each other, and about 10 centimeters for a maximum relative spacing, preferably between about 6 and 8 centimeters, each seat support (260) being movable independently relative to the other support and over a distance equivalent at most to half of said maximum relative spacing. Claim 28. Device (1) according to any one of claims 26 to 27, characterized in that the saddle (200) further comprises mechanical means (280) for locking each seat support (260) in a determined position relative to the upper plate (230), said locking means (280) comprising at least one removable indexing finger (282) cooperating with a series of holes (286) arranged opposite each other in the thickness of the upper plate (230), each hole (286) corresponding to a predetermined spacing of a seat support (260) relative to the upper plate (230).

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