Wheelchair comprising an articulated arm

Abstract

The invention relates to a wheelchair comprising an articulated arm (1) mounted on the chair, and an orthosis (2) carried by a distal end of the articulated arm (1), the orthosis (2) being intended to be associated with a part of an arm of a user of the wheelchair and to at least partially support the part of an arm of a user of the wheelchair, the articulated arm (1) comprising a plurality of sections (10), and actuators (11) that connect the sections (10) and motorise the entirety of the articulated arm (1), each actuator (11) comprising at least one sensor for the forces that may be applied to the actuator (11), the wheelchair also comprising an electronic control unit (3) for controlling the articulated arm (1), which electronic control unit is configured to control each actuator (11) in relation to the position of the orthosis (2) along three axes (x, y, z) of a Cartesian coordinate system (4).

Description

Wheelchair including an articulated arm

[0001] The field of invention is that of the design and manufacture of wheelchair equipment.

[0002] The invention relates more specifically to a wheelchair equipped with a robotic arm. State of the art

[0003] Robotic arms can be used for a variety of tasks.

[0004] One of these tasks is assisting disabled people.

[0005] Indeed, some disabilities reduce people's ability to use their arms to grasp and move objects.

[0006] Cobots, a term used to describe robotic limbs designed to interact with a user, are then used to enable disabled people to regain autonomy in their movements.

[0007] As an example, robotic arms can be mounted on wheelchairs to allow their users to grasp and manipulate objects when their own arms cannot.

[0008] The patent document published under number EP2355958 describes a robotic arm adaptable to a wheelchair.

[0009] Known robotic arms feature a plurality of sections articulated relative to each other.

[0010] The joints are formed in particular by actuators.

[0011] In the field of wheelchair equipment, there are articulated arms that are mounted on the wheelchair, and which carry at their distal end an orthosis serving as support for part of a user's arm.

[0012] This type of equipment helps people with severe disabilities (myopathy, multiple sclerosis, etc.) to use their arms independently.

[0013] According to a widespread design, this type of arm may include a screw motor coupled to springs to support the weight of the user's arm.

[0014] However, this type of design has drawbacks in terms of both versatility and responsiveness.

[0015] Indeed, a latency can be observed in the accompaniment of certain movements, and the support provided may not be sufficient, for example in terms of the possibility of accompaniment in space. Technical problem

[0016] The invention aims in particular to overcome these drawbacks of the prior art.

[0017] More specifically, the invention aims to provide a wheelchair with an articulated arm to support the arm of a wheelchair user, which offers great versatility in the type of support it provides to its user.

[0018] The invention also aims to provide such a wheelchair which offers responsive support functions.

[0019] These objectives, as well as others that will appear subsequently, are achieved through the invention, which relates to a wheelchair comprising an articulated arm mounted on the wheelchair, and an orthosis carried by a distal end of the articulated arm, the orthosis being intended to be associated with a part of the arm of a wheelchair user and to support at least partially the part of the arm of a wheelchair user, characterized in that the articulated arm comprises a plurality of sections, and actuators connecting the sections and motorizing the entire articulated arm, each actuator comprising at least one sensor for forces capable of being exerted on the actuator, and in that the wheelchair comprises an electronic control unit for the articulated arm parameterized to control each actuator to the position of the orthosis along three axes of a Cartesian coordinate system.The electronic control unit includes a support parameter setting in which: - during an initialization phase of the support parameter setting, the electronic control unit generates a compensating instruction for the forces exerted on each actuator and captured by the sensors of each actuator, to compensate for the weight of the articulated arm; - the electronic control unit drives the actuators to accompany a movement of the orthosis along each of the three axes of the Cartesian coordinate system, integrating the attenuation instruction; and in that the wheelchair includes a remote control comprising at least one locking switch for each of the three axes of the Cartesian coordinate system, the remote control having a command for adopting the support parameter setting by the electronic control unit.

[0020] The wheelchair according to the invention has an articulated arm which can accompany the arm of the wheelchair user in a wide range of movement around the user thanks to the use of actuators to fully articulate and motorize the articulated arm.

[0021] Thanks to this use of robotic actuators, a great versatility of movements and types of support can be achieved.

[0022] Furthermore, these robotic actuators allow for a support that moves and adapts quickly to the user's movements.

[0023] The locking switches on each of the three axes of the Cartesian coordinate system allow the user to lock the orthosis's position along one of the three axes. This provides the user with arm support, held in a precise position along one of the three axes, which can be comfortable for certain tasks and depending on the user's condition.

[0024] According to a preferred feature, during the initialization phase of the support parameterization, the compensation instruction also incorporates a compensation force for the weight of the user's arm whose arm part is associated with the orthosis.

[0025] The integration of a compensating force increases user comfort, particularly in cases where the user has exacerbated muscle fatigue.

[0026] Advantageously, the compensation force is adjustable.

[0027] The user can then adjust the compensation they receive, and choose to fully or partially compensate for the weight of their arm.

[0028] According to a preferred embodiment, the electronic control unit includes a supplementary actuator control parameterization in which the electronic control unit generates a pre-programmed point displacement of the orthosis in one of the two directions of at least one of the three axes of the Cartesian frame, the electronic control unit adopting the support parameterization being capable of concurrently implementing the supplementary control parameterization, and the remote control is configured to trigger the supplementary control parameterization.

[0029] Thanks to this method of implementation, the user has the possibility of benefiting from additional movements of the orthosis, which are involved in the mode of support.

[0030] According to a preferred solution, the remote control includes a displacement switch for each of the two directions of the three axes of the Cartesian frame, and in that when the electronic control unit adopts the support setting, the actuation of a displacement switch triggers the complementary control setting, and forces a punctual displacement of the orthosis in the direction of the axis of the Cartesian frame corresponding to said switch.

[0031] In this solution, the user can trigger a temporary increase in the orthosis's movement. This is particularly advantageous when the user has limited muscle strength and is unable to extend or retract their arm. The user can then control the articulated arm so that a supplementary motorized movement of the orthosis allows them to extend their arm further, or retract it, despite their muscle limitations.

[0032] According to a preferred design, the electronic control unit includes an emphasis mode in which, when the electronic control unit adopts the support setting, the detection of a displacement of the orthosis in either direction of the Cartesian coordinate system axis triggers the complementary driving setting, and forces a punctual displacement of the orthosis in the direction of the detected displacement of the Cartesian coordinate system axis.

[0033] This allows the user to benefit from a motorized increase in arm movements. For example, in this enhanced mode, if the electronic control unit detects that the orthosis is moving forward thanks to the actuator sensors, it will then drive the actuators to propel the orthosis even further forward, in addition to providing the support related to the support settings.

[0034] According to an advantageous embodiment, the electronic control unit includes a limitation setting in which at least one limit for the movement of the orthosis is programmed along one of the three axes of the Cartesian frame, and in that the electronic control unit is configured to trigger the complementary pilot setting to block any movement of the orthosis beyond the limit for movement along one of the three axes of the Cartesian frame.

[0035] Such a limiting setting is particularly beneficial when the user is likely to experience pain beyond a certain position along one of the three axes of the Cartesian coordinate system. In other words, a virtual wall can be created, located at a predetermined distance from the wheelchair, beyond which the orthosis cannot go.

[0036] This limitation setting can also be defined for all axes based on the maximum arm length of the wheelchair user.

[0037] According to a preferred variant, the limitation parameterization incorporates a damping and / or spring effect at the level of the orthosis's displacement limit along one of the three axes of the Cartesian coordinate system.

[0038] Preferably, the remote control includes means of visual indications of the switching of each locking switch.

[0039] This allows the user to become aware of the settings in place.

[0040] Other features and advantages of the invention will become more apparent from the following description of various preferred embodiments of the invention, given by way of illustrative and non-limiting examples, and the accompanying drawings, among which: a is a schematic top view of a wheelchair according to the invention; a is a schematic side view of the wheelchair according to the invention. Detailed description

[0041] With reference to figures 1 and 2, a wheelchair is shown.

[0042] This wheelchair includes: - a seat 61 on which a wheelchair user is intended to sit; - a backrest 62 extending transversely to the seat 61, and against which the wheelchair user can lean when seated on the seat; - armrests 63; - wheels 64.

[0043] According to the present embodiment, the wheelchair is an electric wheelchair and at least part of the wheels 64 are associated with at least one electric motor so that they can be driven into rotation according to commands from a wheelchair user.

[0044] According to one possible embodiment, the wheelchair might not include an electric motor and the 64 wheels would then have to be driven manually.

[0045] As illustrated, the wheelchair includes an electric battery 7 which provides electricity to the electric motors of the wheels 64.

[0046] The wheelchair includes an articulated arm 1 which is mounted on it.

[0047] As shown in the figures, the articulated arm 1 is mounted on the chair behind the backrest 62, and is capable of extending to a space in front of the seat 61.

[0048] The wheelchair also includes an orthosis 2. The orthosis 2 is carried by a distal end of the articulated arm 1, and more specifically by the end of the articulated arm opposite to that by which the articulated arm 2 is mounted on the wheelchair.

[0049] This orthosis 2 is intended to be associated with a part of an arm of the wheelchair user.

[0050] More specifically, orthosis 2 is designed to be coupled to the user's forearm. Orthosis 2 may therefore include a cradle for the forearm and a means of retaining the forearm in the cradle, such as a strap.

[0051] As will subsequently become apparent, orthosis 2 is intended to support at least partially the arm portion of the wheelchair user.

[0052] It is also conceivable that orthosis 2 is designed to be coupled to the user's elbow or wrist.

[0053] The articulated arm is fully motorized.

[0054] Indeed, as can be seen in Figures 1 and 2, the articulated arm 1 comprises a plurality of sections 10, and a plurality of actuators 11.

[0055] The actuators 11 connect the sections together. These actuators 11 are powered by the electric battery 7 of the wheelchair.

[0056] According to the present embodiment, the articulated arm 1 comprises three sections 10 and three actuators 11, of which: - a first actuator 11 extending vertically from the wheelchair, and having a base 110, and a rotating part 111, the rotating part 111 being mounted movably for rotation on the base 110 about an axis intended to be substantially vertical; - a first section 10 extending vertically from the rotating part of the first actuator 11; - a second actuator 11 mounted at the end of the first section opposite the rotating part 111 of the first actuator 11; - a second section 10 extending from the second actuator 11; - a third actuator 11 mounted at the end of the second section opposite the second actuator 11; - a third section 10 extending from the third actuator 11 to the orthosis 2 which it carries.

[0057] The first actuator 11 allows the first section 10 to be rotated around its central axis.

[0058] The second and third actuator 11 allow the angle of the sections 10 that they connect to be modified.

[0059] Other embodiments of the articulated arm 1 are however conceivable, particularly depending on the needs of the wheelchair user.

[0060] For example, the articulated arm could include two, four, five, six or even, without limitation, seven actuators.

[0061] Each actuator 11 includes at least one sensor for forces that may be exerted on the actuator 11.

[0062] More specifically, the 11 actuators are "proprioceptive robotic" type motors. These 11 actuators are optimized in terms of power-to-weight ratio to be mounted on an exoskeleton, and include a sensor bank.

[0063] Each actuator 11 can thus include a temperature sensor, a motor position sensor, a motor-driven part position sensor, a force sensor, and an inertial unit.

[0064] This type of actuator 11 makes it possible to simulate the impedance behavior of human muscles.

[0065] These actuators 11 can operate in different ways: - torque control: the actuator follows a torque (force) output setpoint; - position / speed control: the actuator follows a position and / or speed setpoint; - hybrid control: the actuator follows a position and / or speed setpoint but its impedance is adjustable, meaning it can tolerate external disturbances altering its trajectory. Its response to such disturbances is adjustable.

[0066] To control this articulated arm 1, and more specifically the actuators 11, the wheelchair includes an electronic control unit 3 for the articulated arm 1.

[0067] This electronic control unit 3 is parameterized to control each actuator 11 to the position of the orthosis 2 along three axes x, y, z of a Cartesian frame 4.

[0068] The x-axis corresponds to a front / backward direction relative to the wheelchair. Along this direction, there is a forward direction and a backward direction.

[0069] The y-axis corresponds to a left / right direction relative to the wheelchair. Along this direction, there is a leftward direction and a rightward direction.

[0070] Finally, the z-axis corresponds to a vertical direction relative to the wheelchair when it is resting on a horizontal surface. Along this direction, there is an upward direction and a downward direction.

[0071] In other words, the electronic control unit 3 drives each actuator 11 according to the desired position and movements for the orthosis 2, in the Cartesian coordinate system 4, along the three axes x, y, z.

[0072] The wheelchair also includes a remote control 5.

[0073] This remote control 5 is designed to allow control of the articulated arm 1 by the wheelchair user.

[0074] As illustrated in the figure, the remote control 5 includes at least one locking switch 51 for each of the three axes x, y, z of the Cartesian frame 4, and in this case, a single locking switch 51 for each of the three axes x, y, z of the Cartesian frame 4.

[0075] In addition, the remote control 5 includes a movement switch 52 for each of the two directions of the three axes x, y, z of the Cartesian coordinate system 4.

[0076] More specifically, the locking switch 51 and the movement switches 52 are distributed according to: - a control line in the forward / backward direction 521; - a control line in the left / right direction 522; - a control line in the vertical direction 523; - a locking control column 511; - a control column in a first direction 53 (respectively from the top to the bottom of the column: forward, to the left, and upward); - a control column in a second direction 54 (respectively from the top to the bottom of the column: backward, to the right, and downward).

[0077] In addition, the remote control 5 has a control 50 which allows modification of the parameters of the electronic control unit 3, and in particular which allows adoption of a support parameter by the electronic control unit 3.

[0078] Finally, the remote control 5 includes means for visual indications of the switching of each locking switch 51, and according to the present embodiment, also of the movement switches 52 actuated.

[0079] These visual switching indicators take the form of light sources positioned on the remote control, which illuminate distinctly when a switch is activated. The light sources can also be positioned within the switches themselves, directly illuminating the switch, which then includes a minimally translucent switching surface.

[0080] The remote control 5 previously described and shown in Figures 1 and 2 can take other forms. Indeed, this remote control 5 is designed according to the pathology and / or physical limitations of the wheelchair user.

[0081] For example, it is conceivable that this remote control could take a form adapted to be operated by the user's head, one of their limbs, or some other means. Another possible example is that the remote control could take the form of a neural interface.

[0082] As mentioned previously, the electronic control unit 3 includes a support parameterization.

[0083] More generally, and as will be shown later, the electronic control unit 3 includes a plurality of parameters that it can adopt.

[0084] Some of these settings can be used simultaneously, particularly when they work together synergistically. Other settings correspond to distinct functionalities and involve switching one or more of the settings used by the electronic control unit 3.

[0085] In its support parameterization, the electronic control unit 3 implements: - an initialization phase of said support parameterization; - a piloting phase.

[0086] During the initialization phase of the support parameterization, the electronic control unit 3 generates a compensating instruction for the forces experienced by each actuator 11 and captured by the sensors of each actuator 11, to compensate for the weight of the articulated arm 1.

[0087] In this case, during the initialization phase, the user does not position their arm in the orthosis 2 so that the compensation instruction only takes into account the weight and constraints exerted on each actuator 11.

[0088] According to this embodiment, during the initialization phase of the support parameterization, the compensation instruction also incorporates a compensation force for the weight of the user's arm, the part of whose arm is associated with the orthosis 2.

[0089] In this case, during the initialization phase, the user positions their arm in the orthosis 2 so that the compensation instruction takes into account the weight and constraints exerted on each actuator 11 with the weight of the user's arm being transmitted in the articulated arm 1.

[0090] This compensation force is adjustable. For this purpose, the electronic control unit 3 is programmable to offer total or partial compensation for the additional weight of the user's arm.

[0091] A switch on the remote control 5 or another interface can then be configured to allow modification of this compensation force adjustment.

[0092] For example, a smartphone can be associated with the electronic control unit 3 to be able to communicate wirelessly with this electronic control unit 3, and allow the adjustment of the compensation force.

[0093] The initialization phase described above is not necessarily implemented each time the support parameter is adopted by the electronic control unit 3. Indeed, the electronic control unit 3 can store the compensation setpoint in memory for other piloting phases subsequently implemented.

[0094] In the piloting phase, the electronic control unit 3 pilots the actuators 11 to accompany a movement of the orthosis 2 along each of the three axes x, y, z of the Cartesian frame 4 by integrating the attenuation command.

[0095] As mentioned previously, the remote control 5 includes a locking switch 51 for each of the three axes x, y, z of the Cartesian coordinate system 4.

[0096] The user can then lock one, two, or all three axes x, y, z when the electronic control unit 3 adopts the supporting parameterization.

[0097] If the user locks the x-axis, then the articulated arm blocks any movement of the orthosis along the x-axis.

[0098] The axis locking mechanism can be used to facilitate activities.

[0099] For example, to eat, the user can lock the y axis and thus he can move his hand forward and backward (free x axis) and bring his fork to his mouth effortlessly (free z axis with gravity compensation (weight of the articulated arm and weight of the user's arm).

[0100] The electronic control unit 3 also includes a complementary control parameterization of the actuators 11 in which the electronic control unit 3 generates a pre-programmed point displacement of the orthosis 2 in one of the two directions of at least one of the three axes x, y, z of the Cartesian frame 4.

[0101] This additional control setting can be used in conjunction with the support setting.

[0102] Indeed, the electronic control unit 3 adopting the support parameterization is likely to implement the complementary control parameterization simultaneously.

[0103] This additional control setting can be triggered using remote control 5 which is configured for this purpose.

[0104] The displacement switches 52 for each of the two directions of the three axes x, y, z of the Cartesian frame 4 are designed to trigger the additional control parameterization.

[0105] Indeed, the activation of a displacement switch 52 triggers the additional control parameterization, and forces a punctual displacement of the orthosis 2 in the direction of the x, y, z axis of the Cartesian frame 4 corresponding to said switch.

[0106] For example, with the electronic control unit 3 adopting the support parameterization, if the user locks the z-axis by means of the ad hoc locking switch 51, for example when reading a written text held in the hand of the arm associated with the articulated arm 1, he can press one of the two displacement switches 52 control line in the vertical direction 523 to lower or raise the orthosis 2 in order to adjust the height of the arm and the book.

[0107] Additional control settings can also be implemented when an axis is not locked.

[0108] Activating a displacement switch 52 triggers the additional control parameterization, and generates (or forces) a point displacement of the orthosis 2 in the direction of the x, y, z axis of the Cartesian frame 4 corresponding to said switch.

[0109] The user can thus benefit from an additional force, for example 5 Newtons, in the direction of their choice, to initiate or assist the movement of their arm.

[0110] The electronic control unit 3 also includes an accentuation mode which allows the additional piloting to be triggered.

[0111] This accentuation mode can be triggered using the remote control 5, for example using a dedicated switch, and can be triggered for one of the axes, or several axes simultaneously.

[0112] Once the accentuation mode is triggered, the additional control is likely to be initiated by the movements of orthosis 2.

[0113] In the accentuation mode, when the electronic control unit 3 adopts the support parameterization, the detection of a displacement of the orthosis 2 in one of the two directions of the axis of the Cartesian frame triggers the complementary control parameterization, and forces a punctual displacement of the orthosis 2 in the direction of displacement detected of the x, y, z axis of the Cartesian frame 4.

[0114] In other words, if the electronic control unit 3 detects a forward movement of the orthosis 2, then it will control the actuators 11 in order to amplify this forward movement temporarily (amplification limited in power and time).

[0115] For example, electronic control unit 3 can add a force of 5 Newtons to a detected displacement.

[0116] The electronic control unit 3 also includes a limiting parameter setting which allows the creation of "virtual walls".

[0117] In the limitation settings, at least one limit of movement of the orthosis 2 is programmed along one of the three axes x, y, z of the Cartesian coordinate system 4.

[0118] This limit of movement corresponds to a spatial coordinate beyond which the articulated arm prevents the movement of orthosis 2.

[0119] If the limitation setting is adopted by the electronic control unit 3, then the electronic control unit 3 is configured to trigger the additional pilot setting to block any movement of the orthosis 2 beyond the displacement limit along one of the three axes x, y, z of the Cartesian coordinate system 4.

[0120] Ultimately, the limitation setting allows you to set limits to the space in which the user can move, with the axes locked or not.

[0121] According to the present embodiment, the limitation parameterization incorporates a damping and / or spring effect at the level of the displacement limit of the orthosis 2 along one of the three axes x, y, z of the Cartesian coordinate system 4.

[0122] In this case, the electronic control unit 3 can: - temporarily allow an overshoot of the displacement limit, but it is then configured to return the orthosis 2 to the area before the displacement limit, if the orthosis 2 were to overshoot this displacement limit anyway (spring effect); - apply a force opposing a progression of the orthosis 2 towards the displacement limit, as it approaches the displacement limit (damping effect).

[0123] Let us take the example that the user defines a virtual wall on the x axis 10cm from the origin point of the Cartesian coordinate system 4 (x,y,z = 0,0,0).

[0124] From the position Ox=8cm, if the user reaches the position Ox=10cm (the beginning of the virtual wall), a force will be generated which will push the orthosis 2 to the limit of the virtual wall.

[0125] If the user continues to move through the virtual wall, the system will behave like a spring system and the force will increase linearly with the distance of penetration into the wall, which will eventually block the user's movement (the further into the wall you go, the more the force increases).

[0126] This therefore generates a customizable stop in the Cartesian axis from the user's point of view.

[0127] The wheelchair described above has an articulated arm supporting the user's arm, which offers great versatility in the type of support it provides to its user, thanks to its design and the ability to individually control the actuators 11 which fully motorize the articulated arm 1.

[0128] The use of these actuators 11 also offers the articulated arm 1 the possibility of being particularly responsive, especially in relation to the data captured by the sensors of each actuator 11.

Claims

Wheelchair comprising an articulated arm (1) mounted on the wheelchair, and an orthosis (2) carried by a distal end of the articulated arm (1), the orthosis (2) being intended to be associated with a part of the arm of a wheelchair user and to support at least partially the part of the arm of a wheelchair user, characterized in that the articulated arm (1) comprises a plurality of sections (10), and actuators (11) connecting the sections (10) and motorizing the entire articulated arm (1), each actuator (11) comprising at least one force sensor capable of acting on the actuator (11), and in that the wheelchair comprises an electronic control unit (3) of the articulated arm (1) parameterized to control each actuator (11) to the position of the orthosis (2) along three axes (x, y, z) of a Cartesian coordinate system (4),the electronic control unit (3) comprising a support parameter setting in which: - during an initialization phase of the support parameter setting, the electronic control unit (3) generates a compensating instruction for the forces exerted on each actuator (11) and captured by the sensors of each actuator (11), to compensate for the weight of the articulated arm (1); - the electronic control unit (3) controls the actuators (11) to accompany a movement of the orthosis (2) along each of the three axes (x, y, z) of the Cartesian coordinate system (4) by integrating the attenuation instruction; and in that the wheelchair comprises a remote control (5) including at least one locking switch (51) for each of the three axes (x, y, z) of the Cartesian coordinate system (4), the remote control (5) having a command (50) for adopting the support parameter setting by the electronic control unit (3). Wheelchair according to the preceding claim, characterized in that during the initialization phase of the support parameterization, the compensation instruction also integrates a compensation force for the weight of the user's arm, the part of whose arm is associated with the orthosis (2). Wheelchair according to the preceding claim, characterized in that the compensation force is adjustable. Wheelchair according to any one of the preceding claims, characterized in that the electronic control unit (3) includes a supplementary control parameterization of the actuators (11) in which the electronic control unit (3) generates a pre-programmed point displacement of the orthosis (2) in one of the two directions of at least one of the three axes (x, y, z) of the Cartesian frame (4), the electronic control unit (3) adopting the support parameterization being capable of simultaneously implementing the supplementary control parameterization, and in that the remote control (5) is configured to trigger the supplementary control parameterization. Wheelchair according to the preceding claim, characterized in that the remote control (5) includes a movement switch (52) for each of the two directions of the three axes (x, y, z) of the Cartesian frame (4), and in that when the electronic control unit (3) adopts the support setting, the actuation of a movement switch (52) triggers the additional control setting, and forces a point displacement of the orthosis (2) in the direction of the axis (x, y, z) of the Cartesian frame (4) corresponding to said switch. Wheelchair according to any one of claims 4 and 5, characterized in that the electronic control unit (3) includes an accentuation mode in which, when the electronic control unit (3) adopts the support parameterization, the detection of a displacement of the orthosis (2) in one of the two directions of the axis of the Cartesian frame triggers the complementary pilot parameterization, and forces a punctual displacement of the orthosis (2) in the direction of detected displacement of the axis (x, y, z) of the Cartesian frame (4). Wheelchair according to any one of claims 4 to 6, characterized in that the electronic control unit (3) includes a limitation setting in which at least one limit of movement of the orthosis (2) is programmed along one of the three axes (x, y, z) of the Cartesian frame (4), and in that the electronic control unit (3) is configured to trigger the additional control setting to block any movement of the orthosis (2) beyond the limit of movement along one of the three axes (x, y, z) of the Cartesian frame (4). Wheelchair according to the preceding claim, characterized in that the limitation parameterization integrates a damping and / or spring effect at the level of the limit of displacement of the orthosis (2) along one of the three axes (x, y, z) of the Cartesian frame (4). Wheelchair according to any one of the preceding claims, characterized in that the remote control (5) includes means for visual indications of the switching of each locking switch (51).

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