Walking assistance device comprising at least one mechanism facilitating the transition from a standing position to a sitting position

Abstract

The invention relates to a walking assistance device (1) for an individual, comprising at least a chassis (10), a base (20) intended to be in contact with the user and able to move at least vertically in relation to the chassis (10) between a first, low position for sitting and a second, high position for walking, a device (30) for modifying the vertical position of the base at least between its first, high position and its second, low position, and vice versa, a first assistance member (40) for assisting in modifying the vertical elevation position of the base (20), referred to as the raising member, designed to help the base (20) move between its different positions, the raising member (40) comprising at least one elastically deformable return means, characterized in that the walking assistance device further comprises at least one second assistance member (50) for assisting in modifying the vertical elevation position of the base (20), referred to as the attenuation member, which is designed to attenuate / counteract the assistance provided by the raising member (40), the attenuation member (50) applying, as it moves between at least a first, high position and a second, low position, a force that at least partially opposes a force produced by the elastically deformable return means of the raising member.

Description

Walking aid device comprising at least one mechanism facilitating the transition from a standing to a sitting position. Technical field of the invention

[0001] The invention relates to the field of technical walking aids such as wheelchairs, particularly for people with reduced mobility. More specifically, the invention concerns a device that allows an individual (a patient in rehabilitation, for example), through support at the buttocks and groin, to move in an upright position to assist them in their movements, but also to move from a seated to a standing position, and vice versa. Previous technique

[0002] In this field, there are wheelchairs that help a person with reduced mobility to stand up, walk with assistance, and sit down again. 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 relative to the frame (and therefore relative to the ground on which the wheelchair rests and moves).

[0003] The movable seat is designed to move significantly vertically relative to the frame between a raised walking position and a lowered sitting position, for example, using at least one gas spring. More precisely, this movement is generally oblique and directed forward and / or backward through a combination of movements comprising a vertical component and a horizontal component. In the raised position, the user rests their buttocks and crotch on the movable seat, which is then positioned behind the user. This type of wheelchair thus allows an individual to walk comfortably in all directions, particularly during rehabilitation.

[0004] The aim of these wheelchairs is to get as close as possible to a natural gait, by reducing as much as possible, or even eliminating, Potential resistance to natural movements, particularly of the pelvis, buttocks, and thighs. These degrees of freedom thus allow for a walking motion completely decoupled from the rest of the wheelchair as long as the individual remains within the intended range of motion.

[0005] Among this type of chair, we can cite those described in patents EP2401995, EP1859767 or EP3169293. In a walker with a movable seat such as that of document EP2401995, the movement of the seat between its low position and its high position is carried out with a rather counter-intuitive and unnatural lifting movement of the user, the elevation of the seat being essentially vertical with a slight backwards then a slight forwards relative to the frame.

[0006] Generally, the most difficult part of lifting a patient is the initial moments / degrees from horizontal (when the leg muscles are most engaged). This is when the greatest effort must be exerted. Simultaneously with this lifting movement, the mechanism for transitioning from a standing position to a seated position must also allow for a movement requiring minimal effort and be smooth and adapted to the patient's weight.

[0007] In some simpler devices, such as mechanical standing chairs, which do not provide true walking assistance (no weight transfer to the legs), the patient standing function uses a deformable parallelogram. The seat is horizontal in the lowered position and tilted forward in the raised position. To enable mechanical raising and lowering movements, these chairs typically use mechanisms that interact with the deformable parallelogram, incorporating pivots and levers. The patient still needs to exert some effort, however slight, with their upper limbs to move into a sitting or standing position.

[0008] Finally, there are electric standing chairs for which no effort is required for the user to move from a seated to a standing position, provided that the necessary power (potentially adjustable) for this change of position is supplied by an electrical source (motor(s) for example).

[0009] The aim of the invention is therefore that the user can stand up by applying minimal force to their legs, without having to use their upper limbs to transfer weight via fixed armrests or other coupling mechanisms, which implies creating a complementary system to counteract this effect by allowing the user to apply a force slightly greater than their own weight to the actuator to move from the high standing position to the low seated position. Presentation of the invention

[0010] The present invention aims to overcome these drawbacks with a completely innovative approach. The goal is for the standing assistance to be "partial," meaning that when the system is unlocked, the patient who does not wish to stand must be able to remain seated, but if they wish to move from a seated to a standing position, and vice versa, these movements must be assisted / accompanied as much as possible to minimize the effort required, particularly from the lower limbs when standing up.

[0011] Accordingly, in a first aspect, the present invention relates to a walking aid device for an individual, comprising at least: - a mechanical assembly forming a chassis, - a base intended to be in contact with the user and movable at least vertically relative to said chassis between a first low seating position and a second high walking position, - a device for changing the vertical position of the mobile base at least between its first high position and its second low position, and vice versa, by moving along at least one translation between said positions. - a first device for assisting modification of the vertical elevation position of the mobile base, called the elevation device, designed to assist the movement of said mobile base between its different positions, said elevation device comprising at least one actuator forming an elastically deformable return means, - characterized in that it further comprises at least one second assistance member for modifying the vertical elevation position of the movable base, called a damping member, designed to dampen / counteract the assistance of the elevation member, said damping member applying, when passing between at least one first extreme high position and a second extreme low position, a force at least partially in opposition to that R produced by the elastically deformable return means of the elevation member.

[0012] Thanks to the present invention, the user, if they lack the necessary abilities, can move to the standing position with virtually no effort, regardless of their weight or leg strength. This solution thus resolves the problem of "resetting the actuators" to return to the seated position when the user's weight is insufficient. In summary, the invention counterbalances the force of the initial actuators that enable the user to stand.

[0013] 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.

[0014] Advantageously, the movable base is linked to the vertical position modification device so as to perform a curvilinear movement relative to the chassis to go from the first high position and the second low position, and vice versa.

[0015] More specifically, the mobile base is linked to the vertical position modification device so as to perform a circumferential translation movement relative to the chassis to go from the first high position and the second low position, and vice versa.

[0016] Preferably, the device for changing the vertical position of the mobile base consists of at least one arm.

[0017] According to a preferred embodiment of the present invention, the device for modifying the vertical position of the movable base forms, with the chassis and the movable base, at least one deformable parallelogram-shaped structure with four joints in which the movable base forms a first segment, the chassis forms a second segment, and two front and rear lateral arms connect the chassis and the movable base. to form third and fourth inclined segments of the parallelogram, each of the front and rear lateral arms being connected to the movable base and the chassis respectively by means of elastically deformable return means each comprising a pivot at each of their connecting ends.

[0018] In particular, the first and second segments of the deformable parallelogram are horizontal.

[0019] According to a complementary aspect, each lateral arm forming the deformable parallelogram is connected respectively to the chassis by a lower joint disposed at a lower end of said arm and to the mobile base by a upper joint disposed at a high end of said arm, the upper joint being located behind the lower joint over a whole stroke of displacement of the mobile base when the latter moves from its lower position to its upper position, and vice versa.

[0020] According to a particular feature of the present invention, at least one component of the forces produced respectively by the lifting member and the damping member during their respective movements are in opposition with respect to the movements of the deformable parallelogram, so that if a first force tends to open / unfold the deformable parallelogram, the other force tends to close / fold it, and vice versa.

[0021] According to a particularly interesting aspect of the present invention, the damping element is mechanical and is designed to apply a force to at least one of the elements chosen from among the chassis, the movable base, the device for modifying the vertical position of the movable base and the lifting element.

[0022] In particular, the attenuation device is manually operated and includes at least one lever articulated on the chassis and bearing locally on the movable base.

[0023] According to a complementary feature of the present invention, the articulated lever of the damping element is pivotally mounted on a dorsal pivot of the chassis located behind the lower pivots of the lateral arms of the deformable parallelogram.

[0024] Preferably, the movable base includes an actuation / locking pin on which the lever of the damping member presses in order to, when the movable base moves from the high position to the low position, exert the force opposing that produced by the elastically deformable return means of the deformable parallelogram.

[0025] In addition, the articulated lever of the damping device has an internal longitudinal groove creating a sliding track inside which the actuating pin is captive and slides alternately according to the movement of the movable base.

[0026] According to another aspect of the present invention, the articulated lever of the damping element also bears locally on a guide pin of the rear lateral arm of the deformable parallelogram.

[0027] More specifically, the actuating pin and the guide pin form a single piece.

[0028] According to a particular embodiment of the present invention, each pawl is in the form of a rotating roller.

[0029] Advantageously, the damping device also includes a disengageable locking / securing means to block the lifting device and the device for modifying the vertical position of the mobile base in order to keep the walking aid device in the lowered position.

[0030] More specifically, the locking mechanism includes at least: - an articulated hook connected to an elastic return spring and penetrating, in a first hooking position, into a slot in the damping device to lock the walking aid in the lowered position, and - a system for deactivating said hook comprising a tensioned pull cable between a manual actuation trigger and a pivoting lever between the first hooking position in which the hook is engaged with the slot and a second disengagement position in which, after activation of the actuation trigger, the cable is tensioned so that the pivoting lever rotates in order to release the hook from said slot.

[0031] According to a preferred embodiment of the present invention, the walking aid device comprises two position modification devices vertical of the mobile base arranged laterally on the chassis, each of them being equipped with an elevation device and an associated attenuation device.

[0032] Advantageously, the attenuating device is motorized and connected to an electrical actuation system. Brief description of the figures

[0033] 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:

[0034] [Fig. 1] Figure 1 is a front perspective view of a walking aid chair according to the present invention in a first extreme position, called the low seating position,

[0035] [Fig. 2] Figure 2 is a side view of Figure 1,

[0036] [Fig. 3] Figure 3 is a simplified detailed view of some elements of Figures 1 and 2,

[0037] [Fig. 4] Figure 4 is a simplified front perspective view of certain elements of Figures 1 and 2,

[0038] [Fig. 5] Figure 5 is another simplified view of certain elements of Figures 1 and 2,

[0039] [Fig. 6] Figure 6 is a front perspective view of a walking aid chair according to the present invention in an intermediate position,

[0040] [Fig. 7] Figure 7 is a side view of Figure 7,

[0041] [Fig. 8] Figure 8 is a simplified detailed view of some elements of Figures 6 and 7,

[0042] [Fig. 9] Figure 9 is a simplified front perspective view of certain elements of figures 6 and 7,

[0043] [Fig. 10] Figure 10 is another simplified view of certain elements of Figures 6 and 7,

[0044] [Fig. 11] Figure 11 is a front perspective view of a walking aid chair according to the present invention in a second extreme position, called the high walking position,

[0045] [Fig. 12] Figure 12 is a side view of Figure 11,

[0046] [Fig. 13] Figure 13 is a simplified detailed view of certain elements of Figures 11 and 12,

[0047] [Fig. 14] Figure 14 is a simplified front perspective view of certain elements of Figures 11 and 12,

[0048] [Fig. 15] Figure 15 is another simplified view of some elements of Figures 11 and 12

[0049] [Fig. 16] Figure 16 is a perspective view of a safety system in a first locked position,

[0050] [Fig. 17] Figure 17 is a side view of some details of Figure 16,

[0051] [Fig. 18] Figure 18 is a perspective view of the security system in a second unlocked position, and

[0052] [Fig. 19] Figure 19 is a side view of some details of Figure 18. Description of the implementation methods

[0053] 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.

[0054] It should also be noted from the outset that the figures are not necessarily to scale, without this hindering their understanding.

[0055] 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.

[0056] Figures 1 to 5 represent different perspective and detail views (side or perspective) of 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.

[0057] For this purpose, the walking aid chair 1 mainly comprises:

[0058] - a mechanical assembly of metal parts (in particular tubes fixed together, for example by welding) forming a chassis 10 mounted on 3 casters (five in this case, two in the front position and three in the back position, depending on the direction of travel),

[0059] - a base 20 (mechanically welded structure in the main shape of an arc) movable relative to said chassis 10 between at least a first low position, in particular a first extreme position of the seat base (figures 1 to 5), and a second high position, in particular a second extreme sitting-standing walking position (figures 11 to 15), and vice versa, defining a defined travel stroke, passing through one or more partially raised intermediate positions (figures 6 to 10), - a device 30 for modifying the vertical position of the mobile base 20 at least between its first low seating position and its second high sitting-standing walking position, and vice versa, - a first lifting device 40 for changing the vertical elevation position of the mobile base 20, called a lifting device, designed to assist the movement of said base 20 between its different positions, said lifting device 40 comprising at least one actuator forming an elastically deformable return means 43 such as a cylinder, and more specifically two cylinders (preferably parallel) per lifting device 40 in the present case, and

[0060] - at least one second element 50 for modifying the vertical elevation position of the mobile base 20, called a damping element and distinct from the first element 40 for assisting modification of the vertical elevation position of the mobile base 20, designed to dampen / counteract the assistance of the elevation element 40, said damping element 50 applying, when passing between a high position and a low position, a force at least partially in opposition to that produced by the elastically deformable return means 42 or 43 of the elevation element 40.

[0061] The movable base 20 typically supports a support organ 25 on which an individual can be supported and rest in the first extreme low seated position of said base 20 or in the second extreme seated-standing walking position, or in intermediate positions in which the individual remains a priori supported at least partially by said support organ 25 to assist his walking.

[0062] In this case, the support element 25 is materialized by a saddle equipped with a comfortable seat, for example divided into two parts to accommodate the individual's buttocks. A backrest 26 is also provided in the dorsal part of the walking aid device 1, as well as various accessories such as supports (not shown) for the individual's thighs, in particular to assist and support the alternating forward and backward movements of their thighs during their rehabilitation.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] As can also be seen and is clearer in Figures 6 to 15, the device 30 for modifying the vertical position of the movable base 20 forms, with the chassis 10 and the movable base 20, at least one structure 31 in the form of a deformable parallelogram with four joints in which the movable base 20 forms a first substantially horizontal upper segment, the chassis 10 (or at least an upper part thereof forming a high peripheral band) forms a second substantially horizontal lower segment and two lateral arms 32 and 33 connecting the chassis 10 and the mobile base 20 to form the third and fourth inclined segments of the parallelogram 31. This device 30 is therefore of a mechanical type, without assistance or motorization.

[0067] The front lateral arm 32 is connected to the movable base 20 and the chassis 10 by means of a front cylinder 42 having upper pivots 42a and lower pivots 42b respectively at each of its two connecting ends.

[0068] Similarly, the rear lateral arm 33 is connected to the movable base 20 and the chassis 10 by means of a rear cylinder 43 having upper pivots 43a and lower pivots 43b respectively at each of its two connecting ends.

[0069] The lateral cylinders 42 and 43, forming the lifting element 40 assisting the device 30 for modifying the vertical position of the mobile base 20 between its different positions, are not connected or controlled by any external motorization or electrical system.

[0070] Furthermore, each front lateral arm 32 forming the deformable parallelogram 31 is articulated on the one hand on the chassis 10 at the level of a lower articulation 32b disposed at a lower end of said front arm 32 and on the other hand on the mobile base 20, at the level of a higher articulation 32a disposed at a high end of said front arm 32, the higher articulation 32a being located at the rear of the lower articulation 32b over the entire travel of the mobile base 20 when the latter moves from its lower position to its upper position, and vice versa.

[0071] Similarly, each rear lateral arm 33 forming the deformable parallelogram 31 is articulated on one side on the chassis 10 at the level of a lower articulation 33b disposed at a lower end of said rear arm 33 and on the other side on the mobile base 20 at the level of a higher articulation 33a disposed at a high end of said rear arm 33, the higher articulation 33a being located at the rear of the lower articulation 33b over the entire travel of the mobile base 20 when the latter moves from its lower position to its upper position, and vice versa.

[0072] As is clear from the preferred embodiment illustrated in the various figures 1 to 15, the device 1 comprises two lifting elements 40 arranged on either side of the chassis 10, each lifting element 40 being associated with a corresponding attenuation element 50.

[0073] There are therefore two front lateral arms 32, two rear lateral arms 33, and therefore two deformable parallelograms 31 lateral and parallel to each other and each comprising a front arm 32 and a rear arm 32.

[0074] Similarly, there are two lateral and parallel lifting devices 40, each comprising a front cylinder 42 and a rear cylinder 43.

[0075] Finally, there are two 15-sided armrests.

[0076] In particular, each damping element 50 is typically formed by an arm linked to a guiding element, and more specifically a mechanical lever 51 mounted in an articulated manner on the chassis 10 and bearing locally on the movable base 20. Each damping element 50 is therefore distinct, both in its physical design and in its practical functionality, from the lifting element 40, and in particular from the cylinders 42 and 43. As with the lifting elements 40, there are two parallel lateral levers 51, located below the armrests 15, and preferably further apart laterally than the latter, particularly for structural (kinematic) and accessibility reasons.

[0077] More specifically, each lever 51 is articulated around a lower dorsal pivot 52 of the chassis 10 located behind the lower pivots 32b and 33b of the lateral arms 32 and 33 of the deformable parallelogram 31, and bears, according to its angular position (raised or lowered) on a first actuation / locking pin 53 of the mobile base 20 to exert the force F opposing the force R produced by the cylinders 42 and 43 acting on the deformable parallelograms 31 (passage from figures 11 to 15 then 6 to 10 then 1 to 5, as will be explained later).

[0078] The articulated lever 51 of the damping member 50 also bears locally, according to its angular position, on a guide pin 54 of the rear lateral arm 33 of the deformable parallelogram 31, as can be seen in figures 1 to 10.

[0079] In the embodiment shown, the actuating pins 53 and guide pins 54 consist of rotating rollers that can rotate about a transverse axis (Y direction) when the underside of each lever 51 pivots downwards and slides along said rollers 53 and 54 to exert the downward force F.

[0080] The damping element 50 further includes a disengageable locking / securing means 60 to block the lifting device 20 and the lifting assistance device 30 and consequently maintain the walking assistance device 1 in the lower position (figures 1 to 5).

[0081] More specifically, as can also be seen in figures 16 to 19, the locking means 60 includes in particular an articulated hook 61 connected to at least one elastic return spring 62 and penetrating, in a first hooking position (figures 1 to 5 and figures 16 and 17), into a slot 63 of the lever 51 to lock the walking aid device 10 in the lower position.

[0082] The locking means 60 further includes a disengageable system 64 for deactivating said hook 61 comprising a traction cable 65 stretched between a manual actuation trigger 66 housed in the armrest 15 and a lever 67 connected to a mobile carriage 68 and pivotally mounted on a ball bearing 69 between the first hooking position in which the hook 61 is engaged in the slot 63 of the lever 51 (figures 16 and 17) and a second disengagement position in which, after activation (manual lifting) of the actuation trigger 66 causing the rotation of the lever 37 on its ball bearing 69 according to arrow P and the movement of the carriage 68, the traction cable 65 is pulled (arrow T) so that the hook 61 is released (disengaged) from the slot 63 (figures 18 and 19).

[0083] The operation of the walking aid chair 1 according to the present invention is as follows.

[0084] When an individual is sitting on the saddle 25, the movable base 20 is in the first extreme low position, as illustrated in figures 1 to 5. The individual can, for example, rest in this position.

[0085] When the patient wishes to stand up, for example to take a few steps for rehabilitation, they naturally rise using their legs. The two pairs of front jacks 42 and rear jacks 43, calibrated accordingly to the patient's weight, as well as the front arms 32 and rear arms 33 of the deformable parallelograms 31, then assist this upward movement by automatically raising (without any additional motor) the mobile base 20 so that it moves to the intermediate position shown in Figures 6 to 10, and then to the second highest position shown in Figures 11 to 15. In this position, the individual is normally in a "sit-stand" position, meaning they are balanced on their legs while resting their buttocks on the saddle 25, so that they can to safely and stably take steps with feet resting on the ground to walk.

[0086] During this movement, the mobile base 20 and the saddle 25 perform both a rectilinear displacement (with a vertical component directed upwards) and a curvilinear movement to move from the first low position to the second high position, and vice versa, and more specifically an oblique circumferential translational (vertical) movement, that is to say that each of the points of the mobile base 20 moves both upwards (or downwards) while describing a circle, so that they always remain substantially horizontal.

[0087] When an individual wishes to sit down again, they must normally exert a force F that opposes the force R of the jacks 42 and 43 and the deformable parallelograms 31. This force R is adapted to the individual's weight and strength, making it sufficient to lift them with virtually no effort (they exert very little pressure on their feet, hence the term "assistance"). The greater this assistance is to counteract gravity (if force R is too high, the individual will not be able to sit down; if it is too low, they will have difficulty standing up), the greater the force required to sit down must also be.

[0088] The levers 51 of the walking aid chair 1 according to the present invention are therefore used to counteract the lifting force R so that the movable base 20 can return from a so-called "high" position to a so-called "(lower)" position, and in particular from the extreme high position of figures 11 to 15 to the intermediate position of figures 6 to 10 and then to the extreme low position of figures 1 to 5. For this, the individual presses on the lateral levers 31, which press on the guide roller 54 and then on the actuating roller 53 in order to "fold" said deformable parallelograms 31 against the total force R exerted by the whole of the front 42 and rear 43 cylinders.

[0089] Thus, at least one component of the forces R and F produced respectively by the lifting element 40 (the cylinders 42 and 43) on the one hand and the damping element 50 on the other hand (the levers 51) during their respective movements are in opposition with respect to the movements of the deformable parallelograms 31, so that if a first force Force R tends to open / extend the deformable parallelograms 31, while force F tends to close / fold them, and vice versa. When force F exceeds force R, the base 20 gradually lowers as the front of the arm 51 pivots on its lower dorsal pivot 52, moving towards the ground. This arm 51 travels on the pins / rollers 53 and then 54 until it reaches the lowest seated position. It should be noted that the levers 51 already "naturally" oppose (due to their own weight) the jacks 42 and 43.

[0090] To ensure the individual's safety in the lowered position of the mobile base 20 and to prevent the lifting mechanism 40 from being triggered unexpectedly, the hook 61 automatically engages in the slot 63 of the lever 51, thanks in particular to the elastic return spring 62. The individual must then pull the manual trigger 66 to pull the cable 65, thereby rotating the lever 67 on its ball bearing 69 and triggering the movement of the mobile carriage 68 to disengage the hook 61 from the slot 63. In this case, there are two hooks 61, one for each slot 63 / lateral lever 51, and therefore two triggers 66 (one per armrest 15) and two cables 65.

[0091] When the individual moves from the highest position (or any intermediate position) to the lowest position, the hook 61 automatically engages in the slot 63 of the associated side lever 51 (a safety "click" may be emitted at this time) and remains locked in place by the spring 62, which pulls on the traction cable 65 to keep the lever 67 in its locked position. As long as sufficient force is not applied to the triggers 66, the hooks 61 of the side levers 51 cannot disengage, and the movable base 20 therefore cannot be raised.

[0092] It must be clearly understood that the detailed description of the object of the invention, given solely by way of illustration, does not in any way constitute a limitation, technical equivalents also being included in the scope of the present invention.

[0093] Thus, the rollers can be covered with a rubber tread (or other equivalent material) to reduce wear, minimize noise in the event of an impact with the lever, and facilitate the rotational movement of the roller during its drive by the lever when the latter descends while pivoting around its dorsal axis.

[0094] The deformable parallelogram formed by the lifting member 40 and the chassis 10 can be inclined around a transverse axis so that the upper and lower segments are not horizontal (while remaining parallel to each other).

[0095] The damping element 40 can also apply the opposing force on one or more of the elements chosen from the chassis, the movable base, the lifting element or the device for modifying the vertical position of the movable base.

[0096] The articulated lever 51 of the damping member 50 may have an internal longitudinal groove creating a sliding track inside which the actuating pin (roller) 53 is captive and slides alternately according to the movement of the movable base 20.

[0097] The actuating roller / pin 53 and the guide roller / pin 54 can be combined into a single piece arranged for example on the rear arm 33 or on the mobile base 20 so that the individual can press on the articulated lever 51 to move from the high position to the low position of the mobile base 20 without having to exert a significant effort to oppose the restoring force R of the cylinders.

[0098] The damping element 50 can be connected to an electrical actuation and motorization system, for example a cylinder or a motor, to assist or even carry out its movement.

Claims

Demands Claim 1. A walking aid device (1) for an individual, comprising at least: a mechanical assembly forming a frame (10), - a base (20) intended to be in contact with the user and movable at least vertically relative to said chassis (10) between a first low seating position and a second high walking position, - a device (30) for modifying the vertical position of the movable base at least between its first upper position and its second lower position, and vice versa, by displacement along at least one translation between said positions, - a first device (40) for assisting modification of the vertical elevation position of the mobile base (20), called an elevation device, designed to assist the movement of said mobile base (20) between its different positions, said elevation device (40) comprising at least one actuator forming an elastically deformable return means (42; 43), - characterized in that it further comprises at least one second device (50) for assisting modification of the vertical elevation position of the movable base (20), called a damping device, designed to dampen / counteract the assistance of the elevation device (40), said damping device (50) applying, when passing between a high position and a low position, a force (F) at least partially in opposition to a force (R) produced by the elastically deformable return means (42; 43) of the elevation device (40). Claim 2. Walking aid device (1) according to claim 1, characterized in that the movable base (20) is linked to the vertical position modification device (30) so as to perform a curvilinear movement relative to the chassis (10) to move from the first high position and the second low position, and vice versa. Claim 3. Walking aid device (1) according to claim 2, characterized in that the movable base (20) is linked to the vertical position modification device (30) so as to perform a circumferential translation movement relative to the chassis (10) to move from the first high position and the second low position, and vice versa. Claim 4. Walking aid device (1) according to any one of the preceding claims, characterized in that the device (30) for modifying the vertical position of the movable base (20) is formed of at least one arm. Claim 5. A walking aid device (1) according to any one of the preceding claims, characterized in that the device (30) for modifying the vertical position of the movable base (20) forms, with the frame (10) and the movable base (20), at least one deformable parallelogram-shaped structure (31) with four joints in which the movable base (20) forms a first segment, the frame (10) forms a second segment, and two front (32) and rear (33) lateral arms connect the frame (10) and the movable base (20) to form the third and fourth inclined segments of the parallelogram (31), each of the front (32) and rear (33) lateral arms being connected to the movable base (20) and the frame (10) respectively by means of elastically deformable return means (42; 43) comprising a pivot (42a, 42b; 43a, 43b) at each of their connecting ends. Claim 6. Walking aid device (1) according to claim 5, characterized in that the first and second segments of the deformable parallelogram (31) are horizontal. Claim 7. Walking aid device (1) according to claim 5 or 6, characterized in that each lateral arm (32; 33) forming the deformable parallelogram (31) is connected respectively to the chassis (10) by a lower joint disposed (32b; 33b) at a lower end of said arm (32; 33) and to the mobile base (20) by an upper joint (32a; 33a) disposed at a high end of said arm (32; 33), the upper joint (32a; 33a) being located behind the lower joint (33a; 33b) over a full stroke of the mobile base (20) when the latter moves from its lower position to its upper position, and vice versa. Claim 8. A walking aid device (1) according to any one of claims 5 to 7, characterized in that at least one component of the forces (R; F) produced respectively by the lifting member (40) and the damping member (50) during their respective movements are opposed to the movements of the deformable parallelogram (31), such that if A first force tends to open / unfold the deformable parallelogram (31), the other force tends to close / fold it, and vice versa. Claim 9. Walking aid device (1) according to any of the preceding claims, characterized in that the damping member (50) is mechanical and is designed to apply a force (F) on at least one of the elements selected from the chassis (10), the movable base (20), the device (30) for modifying the vertical position of the movable base and the lifting member (40). Claim 10. Walking aid device (1) according to claim 9, characterized in that the damping member (50) is manually operated and comprises at least one lever (51) articulated on the chassis (10) and bearing locally on the movable base (20). Claim 11. Walking aid device (1) according to claims 7 and 10, characterized in that the articulated lever (51) of the damping member (50) is pivotally mounted on a dorsal pivot (52) of the chassis (10) located behind the lower pivots (32b, 33b) of the lateral arms (32, 33) of the deformable parallelogram (31). Claim 12. Walking aid device (1) according to any one of claims 10 to 11, characterized in that the movable base (20) has an actuation / locking pin (53) against which the lever (51) of the damping member (50) presses to, when the movable base (20) passes from the high position to the low position, exert the force (F) opposing that (R) produced by the elastically deformable return means (42) of the deformable parallelogram (31). Claim 13. Walking aid device (1) according to claim 12, characterized in that the articulated lever (51) of the damping member (50) has an internal longitudinal groove creating a sliding track inside which the actuating pin (53) is captive and slides alternately according to the movement of the movable base (20). Claim 14. Walking aid device (1) according to any one of claims 10 to 13, characterized in that the articulated lever (51) of the damping member (50) also bears locally on a guide pin (54) of the rear lateral arm (33) of the deformable parallelogram (31). Claim 15. Walking aid device (1) according to claim 14, characterized in that the actuating pin (53) and the guide pin (54) form a single piece. Claim 16. Walking aid device (1) according to any one of claims 12 to 15, characterized in that each pin (53; 54) is in the form of a rotating roller. Claim 17. Walking aid device (1) according to any of the preceding claims, characterized in that the damping member (50) further comprises a disengageable locking / securing means (60) to block the lifting member (40) and the device (30) for modifying the vertical position of the movable base in order to maintain the walking aid device (1) in the lowered position. Claim 18. A walking aid device (1) according to claim 17, characterized in that the locking means (60) comprises at least: - an articulated hook (61) connected to an elastic return spring (62) and penetrating, in a first hooking position, into a slot (63) of the damping member (50) to lock the walking aid device (1) in the lowered position, and - a system (64) for deactivating said hook (61) comprising a traction cable (65) stretched between a manual actuation trigger (66) and a lever (67) pivoting between the first hooking position in which the hook (61) is engaged with the slot (63) and a second disengagement position in which, after activation of the actuation trigger (66), the cable (65) is stretched so that the pivoting lever rotates in order to release the hook (61) from said slot (63). Claim 19. Walking aid device (1) according to any of the preceding claims, characterized in that it comprises two devices (30) for modifying the vertical position of the movable base arranged laterally on the chassis (10), each of them being equipped with an elevation member (40) and an associated damping member (50). Claim 20. Walking aid device (1) according to any of claims 1 to 19, characterized in that the damping member (50) is motorized and is connected to an electrical actuation system.

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