Walking aid having displacement sensors and an electronic board

Abstract

The invention relates to a walking aid (1) for an individual comprising a chassis (10), a base (20) that is movable at least vertically with respect to the chassis (10) between a low sitting position and a high walking position and a device (30) for modifying the vertical elevation position of the base (20), characterized in that it is equipped with at least one sensor (60) measuring the displacement of the aid (1) while the individual is walking in order to determine a distance travelled, a sensor (70) measuring a difference in position of at least one moving limb of the individual in order to determine at least one item of data from an amplitude of swinging movement of the limb, a step rate, and an asymmetry of the gait, the sensors (60, 70) being coupled to determine the length of the step, the asymmetry of the length of the steps or the walking speed, and an electronic board executing at least one function from among the retrieval of the data from the set of sensors, the storage of the data, the analysis of the data and the transmission of the data to a processing unit.

Description

Walking aid device incorporating motion sensors and an electronic circuit board 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 relates to a device that allows an individual (a patient in rehabilitation, for example), by providing support at the buttocks and groin, to facilitate their movement and rehabilitation when walking in a standing position, but also to easily move from a seated to a standing position, and vice versa. Previous technique

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

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

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

[0005] Typically, patients in wheelchairs, whether in nursing homes or care facilities, have one rehabilitation session per day (for the lucky ones) or per week. Outside of these sessions, there is no precise, reliable, or thorough monitoring of the patient's progress. The patient may continue rehabilitation, but poorly executed. Or it may not be performed at all outside of the prescribed sessions. Furthermore, even if the patient wishes, they often have no opportunity to rehabilitate themselves. Consequently, for some patients, rehabilitation time is limited to standing. Too often, the patient is simply confined to bed or a wheelchair between sessions and has no opportunity to stand.

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

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

[0008] 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 modifying the vertical elevation position of the movable base at least between its first high position and its second low position, and vice versa, by displacement along at least one translation between said positions, characterized in that it is equipped with an embedded system comprising: - a set of motion sensors comprising at least: * a first sensor measuring the displacement of a part of the mobile device during the individual's walking to determine the distance traveled by the latter when using said device, * a second sensor measuring a difference in position of at least one moving limb of the individual to determine at least one data point among the amplitude of swing movement of said limb, a step rate, and an asymmetry of gait, * said sensors being coupled so as to determine step length, step length asymmetry, or walking speed, and - an electronic microcontroller board powered by an electrical power source to perform at least one function among retrieving data from all sensors, storing data from all sensors, analyzing data from all sensors and transmitting data from all sensors to a digital processing unit.

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

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

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

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

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

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

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

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

[0017] According to a complementary aspect, the device also includes a saddle-type support organ intended to be in contact with the individual and which is mobile relative to said chassis 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 organ in a sitting-standing position, the support organ being equipped with a sensor measuring a pressure or a difference in pressure exerted by the individual on the support organ, in particular when walking.

[0018] Advantageously, the pressure sensor is suitable for measuring in real time the pressure exerted by the individual on said support organ and determining at least one piece of data among the individual's presence on the device, the duration of the individual's presence on the device in each sitting and standing positions, the distribution of the individual's weight at least in the seated position, and the alternating movement of the individual's pelvis.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0032] [Fig. 6] Figure 6 is a detailed view of a Hall effect sensor from the device shown in Figures 1 to 6.

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

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

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

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

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

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

[0039] 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.

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

[0041] 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.

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

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

[0044] The movable base 20 typically supports a support element 40 on which an individual can sit in the lower position of said base 20, or stand in a height-adjustable seated / standing position in the upper position of said base 20, in which the individual is at least partially supported by said support element 40 to assist their walking. In this case, the support element 40 is a saddle provided with a two-part comfort seat (thick foam, for example, memory foam) 42. A backrest 6 is also provided in the dorsal part of the walking aid device 1. It should be specified here that, unlike completely different prior art devices of the "exoskeleton" type, the individual places his feet directly on the ground, without an intermediate mechanical element of the "footrest" type, whether in the high "sit-stand" walking position, or in all intermediate positions of elevation of the mobile base 20 (and of the support organ 40).Furthermore, the movement of the support member 40 relative to the frame 10, between its low seating position and its high "sit-stand" walking position, consists of a "constant attitude" movement, meaning that all points of the support member 40 move identically, whether it is a perfectly vertical raising / lowering movement (no horizontal component), or a movement combining a vertical raising and a forward movement (transition from the low to the high position), or a movement combining a vertical lowering and a backward movement (transition from the high to the low position), or vice versa. In other words, the support member 40 does not pivot around a transverse (or longitudinal) axis during its various movements, but its displacement can be oblique.

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

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

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

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

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

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

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

[0052] These sensors 60 and 70 are coupled and work together to determine step length, step length asymmetry, or walking speed. To this end, they are connected by various cables 80 to a microcontroller-based electronic board 90 powered by an electrical power source 91, such as a rechargeable battery, to perform at least one of the following functions: retrieving data from all the sensors, storing data from all the sensors, analyzing data from all the sensors, and transmitting data from all the sensors to an external digital processing unit 120 of a known type, such as a laptop, tablet, or smartphone, equipped with a dedicated application whose operation will be explained later.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0068] Furthermore, the solution collects data in a completely transparent manner for the patient, which avoids disturbing them during their rehabilitation and harming its effectiveness.

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

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

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

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

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

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

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

[0076] Piezoelectric elements can be embedded in the foam or placed in contact with the upholstery fabric. It would then simply be a matter of changing the connection method between the elements and the data acquisition system.

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

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

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

[0080] Elastically deformable return means of the cylinder type can be replaced by technical equivalents, for example variable pressure springs, a system using a worm gear and a lever or a motor, hydraulic cylinders, a set of cables, pulleys and counterweights, or even an electric actuator like those used in hospital settings (medical beds).

[0081] The sensors can also be worn directly by the patient, for example by attaching them around the patient's thigh or calf, which allows the number of steps or their asymmetry to be tracked.

Claims

Demands Claim 1. A walking aid device (1) for an individual, comprising at least: - a mechanical assembly forming a chassis (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 sit-stand walking position, - a device (30) for modifying the vertical elevation 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, by displacement along at least one translation between said positions, - a support element (40) supported by the base (20), to move with it, and on which the individual can sit or be supported in a sit-stand position regardless of the vertical elevation position of the base (20), characterized in that it is equipped with an embedded system comprising: - a set of motion sensors comprising at least: * a first sensor (60) measuring the displacement of a part of the device (1) during the individual's walking to determine a distance traveled by the latter during the use of said device (1), * a second sensor (70) measuring a difference in position of at least one moving limb of the individual to determine at least one data point among an amplitude of swing movement of said limb, a step rate, and an asymmetry of gait, * said sensors (60, 70) being coupled so as to determine step length, step length asymmetry, or walking speed, and - an electronic card (90) with a microcontroller powered by an electrical power source (91) to perform at least one function among retrieving data from all sensors, storing data from all sensors, analyzing data from all sensors and transmitting data from all sensors to a digital processing unit. Claim 2. Walking aid device (1) according to claim 1, characterized in that the first displacement sensor (60) is an odometer. Claim 3. Walking aid device (1) according to claim 2, characterized in that the odometer (60) is a Hall effect sensor comprising at least one magnet (62) mounted on a wheel (3) of the device (1) in contact with the ground and a magnetic field detector (64). Claim 4. A walking aid device (1) according to any one of claims 1 to 3, characterized in that it comprises at least one movable assistance and / or movement tracking member (50) in contact with a lower limb of the individual, said movable member (50) being articulated from front to back relative to the movable base (20), and conversely, from back to front, so as to accompany the movement of said lower limb, the second sensor (70) measuring a difference in the angle of inclination of said movable assistance member (50) between a front position and a rear position. Claim 5. Walking aid device (1) according to claim 4, characterized in that it comprises two movable assistance members (52) in contact respectively with the lower limbs of the individual, said movable assistance members (52) being articulated on the movable base (20) and alternately applying forward and / or backward pressure to each of said lower limbs of the individual in the second high position of the base (20) so as to assist the walking of the individual, an angular sensor (72) being provided on each movable assistance member (52) and the microcontroller electronic board (90) measuring a difference in the angle of inclination of each movable member (52) and / or a difference in the angle of inclination between the two movable members (52). Claim 6. Walking aid device (1) according to claim 5, characterized in that the movable assistance members (52) support said lower limbs in the first low position of the base (20) when the individual is seated on the device (1). Claim 7. Walking aid device (1) according to any one of claims 1 to 6, characterized in that the second sensor (70) is an inertial measurement unit (IMU). Claim 8. A walking aid device (1) according to any one of claims 1 to 7, characterized in that it further comprises at least one third sensor (100) measuring at least one data point among the presence of the individual on the device (1) and the duration of his presence in each of the positions respectively sitting and walking. Claim 9. Walking aid device (1) according to claim 8 characterized in that the support member (40) is a saddle equipped with a sensor (100) measuring a pressure or a pressure difference exerted by the individual on the support member (40), in particular during walking. Claim 10. Walking aid device (1) according to claim 9, characterized in that the pressure sensor (100) is adapted to measure in real time the pressure exerted by the individual on said support organ (40) and to determine at least one data among the presence of the individual on the device (1), the duration of the presence of the individual on the device (1) in each of the sitting and standing positions, the distribution of the individual's weight at least in the sitting position of the latter, and the alternating movement of the individual's pelvis. Claim 11. Walking aid device (1) according to any one of claims 9 to 10, characterized in that the pressure sensor (100) is a piezoelectric multi-point pressure plate. Claim 12. Walking aid device (1) according to any one of claims 9 to 11, characterized in that the saddle (40) consists of two portions (42), each adapted to receive a buttock of the individual and equipped with a pressure sensor (100). Claim 13. Walking aid device (1) according to any one of the preceding claims, characterized in that the microcontroller-based electronic board (90) incorporates an inertial measurement unit (92) for measuring the position and / or accelerations of the walking aid device (1) in all directions. Claim 14. Walking aid device according to any one of the preceding claims, characterized in that the microcontroller-based electronic board (90) also includes a wireless communication module for exchanging data with the external digital processing unit. Claim 15. An assembly comprising the walking aid device (1) according to any one of claims 1 to 14 and an external digital data processing unit (120) comprising at least one monitoring screen displaying, in particular in the form of graphs and / or figures, the data processed in order to display objectives to be achieved and objectives achieved in a rehabilitation program. Claim 16. Assembly according to claim 15, characterized in that it comprises a fleet bringing together several walking aid devices (1) according to any one of claims 1 to 14 connected to one or more external digital processing unit(s) (120) of the data sent by each of the devices (1).

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