Exoskeleton structure
阅读说明:本技术 外骨骼结构 (Exoskeleton structure ) 是由 弗朗西斯科·苏西 纳撒尼尔·佐索 西尔万·加涅 亚历山大·贝朗格-德斯比恩斯 J·格勒尼耶 于 2018-12-28 设计创作,主要内容包括:本发明涉及一种外骨骼结构,其包括:-旨在紧固至使用者的腿部的腿部部分(35),-旨在紧固至使用者的脚部的脚部部分(37),-将腿部部分(35)连接至脚部部分(37)的机械连接组件(36),该机械连接组件包括:第一枢轴(361),该第一枢轴在使用者的脚部相对于腿部进行内/外旋转运动时允许脚部部分(37)相对于腿部部分(35)围绕第一旋转轴线(X1)旋转;以及第二枢轴(365),该第二枢轴在使用者的脚部相对于腿部进行外旋/内旋运动时允许脚部部分(37)相对于腿部部分(35)围绕第二旋转轴线(X2)旋转,其中,当使用者站立而处于参考解剖学位置时,第一枢轴(361,461)位于与地面相距大于或等于20厘米的高度处,并且第一旋转轴线(X1)与第二旋转轴线(X2)之间的距离小于或等于5厘米。(The present invention relates to an exoskeleton structure comprising: -a leg portion (35) intended to be fastened to a leg of a user, -a foot portion (37) intended to be fastened to a foot of a user, -a mechanical connection assembly (36) connecting the leg portion (35) to the foot portion (37), the mechanical connection assembly comprising: a first pivot (361) allowing the foot portion (37) to rotate relative to the leg portion (35) about a first axis of rotation (X1) upon an in/out rotational movement of the user's foot relative to the leg; and a second pivot (365) allowing the foot portion (37) to rotate about a second axis of rotation (X2) relative to the leg portion (35) when the user's foot performs an external/internal rotation motion relative to the leg, wherein, when the user is standing in the reference anatomical position, the first pivot (361, 461) is located at a height greater than or equal to 20 cm from the ground and the distance between the first axis of rotation (X1) and the second axis of rotation (X2) is less than or equal to 5 cm.)
1. An exoskeleton structure (1) comprising:
-a leg portion (35, 45) intended to be fastened to a leg of a user,
-a foot portion (37, 47) intended to be fastened to the foot of a user,
-a mechanical connection assembly (36, 46) connecting the leg portion (35, 45) to the foot portion (37, 47), the mechanical connection assembly comprising: a first pivot (361, 461) allowing the foot portion (37, 47) to rotate relative to the leg portion (35, 45) about a first rotation axis (X1) during an in/out rotational movement of a user's foot; and a second pivot (365, 465) allowing the foot portion (37, 47) to rotate relative to the leg portion (35, 45) about a second axis of rotation (X2) during eversion/eversion movements of the ankle of the user,
wherein the first pivot (361, 461) is arranged such that the first pivot (361, 461) is positioned on one side of the leg portion (35, 45), the leg portion (35, 45) being located between the sagittal plane of the user and the first pivot (361, 461), and the first pivot (361, 461) is positioned at a height greater than or equal to 20 cm from the ground when the user is standing in an anatomical reference position, the first rotation axis (X1) being oriented such that the distance between the first rotation axis (X1) and the second rotation axis (X2) is less than or equal to 5 cm.
2. The exoskeleton structure of claim 1, wherein the first axis of rotation (X1) is oriented such that the first axis of rotation (X1) intersects the second axis of rotation (X2).
3. The exoskeleton structure of one of claims 1 and 2, wherein the first axis of rotation (X1) is oriented such that it forms a first non-zero angle (a) with respect to a vertical direction when the user is standing in an anatomical reference position, said first angle being comprised between 1 and 30 degrees, preferably between 10 and 15 degrees, for example equal to 12 degrees.
4. The exoskeleton structure of one of claims 1 to 3, wherein the mechanical connection assembly (36, 46) comprises a third pivot (363, 463) allowing the foot portion (37, 47) to rotate relative to the leg portion (35, 45) about a third rotation axis (X3) during flexion/extension movements of the user's ankle.
5. The exoskeleton structure of claim 4, wherein the third pivot (363, 463) is positioned at a height less than an ankle bone height of the user when the user is standing in an anatomical reference position.
6. The exoskeleton structure of one of claims 4 and 5, wherein the third pivot (363, 463) is located towards a rear foot of the user with respect to the ankle bone of the user.
7. The exoskeleton structure of one of claims 4 to 6, wherein the first axis of rotation (X1) is oriented such that a distance between the first axis of rotation (X1) and the third axis of rotation (X3) is less than or equal to 5 centimeters.
8. The exoskeleton structure of one of claims 4 to 7, wherein the first axis of rotation (X1) is oriented such that the first axis of rotation (X1) intersects the third axis of rotation (X3).
9. The exoskeleton structure of one of claims 4 to 8, wherein the third axis of rotation (X3) is oriented such that it forms a second non-zero angle (γ) with the front plane of the user when the user is standing in the anatomical reference position, said second angle being comprised between 1 and 15 degrees, preferably between 4 and 7 degrees, for example equal to 6 degrees.
10. The exoskeleton structure of one of claims 4 to 9, wherein the third axis of rotation (X3) is oriented such that it forms a third non-zero angle (β) with a transverse plane of the user when the user is standing in the anatomical reference position, said angle being comprised between 5 and 15 degrees, preferably between 6 and 8 degrees, for example equal to 8 degrees.
11. The exoskeleton structure of one of claims 4 to 10, wherein the mechanical connection assembly (36, 46) comprises a connection member (362, 462) having a first end (366, 466) connected to the leg portion (35, 45) via the first pivot (361, 461) and a second end (367, 467) connected to the third pivot (363, 463), the connection member (362, 462) comprising: two portions (368, 369, 468, 469) slidably mounted with respect to each other so as to adjust the length of said connection member (362, 462); and a locking device that locks the two portions (368, 369, 468, 469) relative to each other once the length is adjusted.
12. The exoskeleton structure of one of claims 1 to 11, wherein the second axis of rotation (X2) is oriented such that it forms a fourth non-zero angle () with respect to the horizontal when the user is standing in an anatomical reference position, said angle being comprised between 1 and 30 degrees, preferably between 15 and 25 degrees, for example 18 degrees.
13. The exoskeleton structure of one of claims 1 to 12, wherein the second axis of rotation (X2) is oriented such that it passes under an ankle bone of the user when the user is standing in an anatomical reference position.
14. The exoskeleton structure of one of claims 1 to 13, wherein the second axis of rotation (X2) is oriented downwards when the second axis of rotation (X2) is followed from a rear of a user's foot towards a front of a user's foot when the user is standing in an anatomical reference position.
Technical Field
The present invention relates to an exoskeleton structure.
Background
A force-assisted exoskeleton is a mechanical structure that doubles the skeletal structure of a human body, and allows for an improvement in the physical fitness of the human body.
There are different types of force-assisting exoskeletons, depending on the work the user is to perform. Each type of exoskeleton enables to limit or reduce the force exerted by the user during the completion of certain tasks.
However, when the weight of the exoskeleton structure is not transferred to the ground, the user must support the weight of the exoskeleton structure, which results in limited freedom of movement for the user and additional loads that must be transferred to the user's lower body.
Furthermore, it may be difficult for the user to put on or take off the exoskeleton structure.
Disclosure of Invention
It is an object of the present invention to propose an exoskeleton structure that is more comfortable and that impedes the movements of the user as little as possible.
This object is achieved within the scope of the present invention by an exoskeleton structure comprising:
a leg portion intended to be fastened to a leg of a user,
-a foot portion intended to be fastened to a user's foot,
-a mechanical connection assembly connecting the leg portion to the foot portion, the mechanical connection assembly comprising: a first pivot allowing the foot portion to rotate relative to the leg portion about a first axis of rotation during in/out rotational movement of the user's foot; and a second pivot allowing the foot portion to rotate relative to the leg portion about a second axis of rotation during eversion/inversion movements of the ankle of the user,
wherein the first pivot is arranged such that the first pivot is positioned on one side of the leg portion, the leg portion being located between the sagittal plane of the user and the first pivot, and the first pivot is positioned at a height greater than or equal to 20 centimeters from the ground when the user is standing on the ground in the reference anatomical position, the first axis of rotation being oriented such that the distance between the first axis of rotation and the second axis of rotation is less than or equal to 5 centimeters.
It will be recalled that "distance between two axes" is defined as the minimum distance separating two points respectively located on each of the two axes.
The present invention is based on the following observations: when the first pivot is positioned sufficiently far from the ankle of the user (i.e., at a certain height from the ground), the first rotation axis can be arranged such that it is as close as possible to the rotation center of the ankle. In particular, the first axis of rotation is positioned sufficiently close to the second axis of rotation (i.e. the distance between the axes is less than or equal to 5 cm) in order to reproduce the ankle degree of freedom as realistically as possible and thus obtain a more comfortable exoskeleton structure.
In addition, the first pivot is positioned on one side of the leg portion such that the leg portion is located between the sagittal plane of the user and the first pivot.
This arrangement of the first pivot allows the space in the front of the tibia of the user and the inner space of the leg to be freed. In this way, the exoskeleton structure can be more easily donned and doffed. In addition, this limits the risk of interference between the exoskeleton structure and the other foot of the user during walking.
Furthermore, this arrangement allows the design of different parts of the structure to be lighter in weight and less bulky.
In a preferred embodiment of the invention, the first axis of rotation is oriented such that it intersects the second axis of rotation (i.e. the distance between the axes is zero). The first and second axes of rotation are concurrent, which allow for ankle freedom to be maintained.
The proposed exoskeleton structure may further have the following features:
the first axis of rotation is oriented such that it forms a first non-zero angle with respect to the vertical when the user stands in the anatomical reference position, the first angle being comprised between 1 and 30 degrees, preferably between 10 and 15 degrees, for example equal to 12 degrees,
the mechanical connection assembly comprises a third pivot allowing the foot portion to rotate about a third axis of rotation with respect to the leg portion during flexion/extension movements of the ankle of the user,
-the third pivot is positioned at a height less than the ankle bone height of the user when the user is standing in the anatomical reference position,
-the third pivot is located towards the rear of the user's foot with respect to the user's ankle bone,
the first rotation axis is oriented such that the distance between the first rotation axis and the third rotation axis is less than or equal to 5 centimeters,
the first axis of rotation is oriented such that the first axis of rotation intersects the third axis of rotation,
the third axis of rotation is oriented such that it forms a second non-zero angle with the front plane of the user when the user stands in the anatomical reference position, the second angle being comprised between 1 and 15 degrees, preferably between 4 and 7 degrees, for example equal to 6 degrees,
the third axis of rotation is oriented such that it forms a third non-zero angle with the transversal plane of the user, when the user stands in the anatomical reference position, comprised between 5 and 15 degrees, preferably between 6 and 8 degrees, for example equal to 8 degrees,
the mechanical connection assembly comprises a connection member having a first end connected to the leg portion via a first pivot and a second end connected to a third pivot, the connection member comprising: two parts slidably mounted with respect to each other for adjusting the length of the connecting member; and locking means for locking the two parts relative to each other once the length is adjusted,
the second axis of rotation is oriented such that it forms a fourth non-zero angle with respect to the horizontal when the user stands in the anatomical reference position, the angle being between 1 and 30 degrees, preferably between 15 and 25 degrees, for example 18 degrees,
when the user is standing in the anatomical reference position, the second axis of rotation is oriented such that it passes under the malleoli of the user,
-when the user is standing in the anatomical reference position, the second axis of rotation is oriented downwards when following the second axis of rotation from the rear of the user's foot towards the front of the user's foot.
Drawings
Other features and advantages will be revealed by the following description, which is purely illustrative and non-limiting and must be read with reference to the accompanying drawings, in which:
figure 1 schematically shows a user equipped with an exoskeleton structure according to one embodiment of the invention in a front view,
figure 2 schematically shows a part of the exoskeleton structure of figure 1 in a rear view,
figure 3 shows schematically a part of the exoskeleton structure of figure 1 in a rear view,
fig. 4 schematically shows a part of the exoskeleton structure of fig. 1 in a top view, and
figure 5 schematically shows a part of the exoskeleton structure of figure 1 in a side view.
Detailed Description
Fig. 1 schematically shows a user in an anatomical reference position (also referred to as "reference position" or "standard anatomical position") standing on a horizontal ground according to an anatomical reference system.
Further, fig. 1 includes a schematic diagram showing the anterior plane F, sagittal plane S, and transverse plane T of the user. In a known manner, the sagittal plane S is defined as the plane parallel to the median plane and separating the left and right halves of the body of the user. The anterior plane F or coronal plane is defined as a plane perpendicular to the medial plane and dividing the body into an anterior or ventral portion and a posterior or dorsal portion. The transverse plane T or transverse plane is defined as a plane perpendicular to the medial plane and dividing the body into an upper portion (on the head side) and a lower portion (on the foot side).
In fig. 1, a user is equipped with a force assisted exoskeleton structure 1 for assisting the user during movement of their lower members.
The exoskeleton structure 1 shown in fig. 1 comprises a waist belt 2, which can encircle the waist of a user, a first lower member assembly 3 and a second lower member assembly 4.
The waist belt 2 is disposed around the waist of the user and is supported on the hips of the user. The belt 2 may support a battery and a control unit (not shown) fastened to the belt. The battery allows to supply the different actuators of the structure with electrical energy. The control unit is programmed to control the different actuators.
The first lower member assembly 3 extends along a first lower member of the user (in the example of figure 1, the first lower member assembly extends along a right lower member of the user) and is connected to the waist belt 2 by means of a first hip pivot 31 (located on the right side of the user).
The first lower member assembly 3 comprises a first hip pivot 31, a first femoral part 32 adapted to extend along the user's right thigh, a first thigh part 33 adapted to be fastened to the user's right thigh, a first knee pivot 34, a
The first hip pivot 31 allows the first femoral component 32 to rotate relative to the belt 2 during flexion/extension movements of the user's right thigh relative to the pelvis.
The first lower member assembly 3 may further comprise a hip actuator integrated with the first hip pivot 31, the hip actuator comprising a stator and a rotor adapted to be driven in rotation relative to the stator to drive the tibial portion 32 in rotation relative to the girdle 2 during a right hip flexion or extension movement.
A first knee pivot 34 connects first femoral component 32 to
The first lower member assembly 3 may further comprise a knee actuator integrated with the first knee pivot 34, the knee actuator comprising a stator and a rotator adapted to be driven in rotation relative to the stator to drive the
As shown in fig. 2,
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As can be seen in fig. 1, the
In addition, the
As a result, the
As shown in fig. 1, the second lower member assembly 4 is symmetrical to the first lower member assembly 3. The second lower member assembly 4 is also connected to the waist belt 2 by means of a second hip pivot 41 which is symmetrical to the first hip pivot 31. The second lower member assembly 4 extends along a second lower member of the user (in the example of fig. 1, the second lower member assembly extends along the left lower member of the user).
The second lower member assembly 4 comprises the same parts as the first lower member assembly 3 but arranged symmetrically with respect to the sagittal plane S of the user.
Thus, the second lower member assembly 4 comprises a second hip pivot 41, a second femoral portion 42 adapted to extend along the user's left thigh, a second thigh portion 43 adapted to be secured to the user's left thigh, a second knee pivot 44, a second leg portion 45 adapted to be secured to the user's left leg, a second mechanical connection assembly 46, and a second foot portion 47 adapted to be secured to the user's left foot.
The second hip pivot 41 allows the second femoral component 42 to rotate relative to the belt 2 during flexion/extension movements of the user's left thigh relative to the pelvis.
The second lower member assembly 4 may further comprise a hip actuator integrated with the hip pivot 41, the hip actuator comprising a stator and a rotor adapted to be driven in rotation relative to the stator to drive the tibial portion 42 in rotation relative to the belt 2 during flexion or extension movements of the hip.
A second knee pivot 44 connects the second femoral component 42 to a second leg component 45. The knee pivot 44 allows the leg portion 45 to rotate relative to the femoral portion 42 during flexion/extension movement of the user's leg relative to the thigh.
The second lower member assembly 4 may further comprise a knee actuator integrated with the second knee pivot 44, the knee actuator comprising a stator and a rotator adapted to be driven in rotation relative to the stator to drive the leg portion 45 in rotation relative to the femoral portion 42 during flexion or extension movements of the knee.
As shown in fig. 3, the second connection assembly 46 includes a first pivot shaft 461, a tibial portion 462, a second pivot shaft 463, a middle portion 464, and a third pivot shaft 465.
The tibial portion 462 may be formed as two portions 468, 469 that are mounted to slide relative to one another by way of a slide. Sliding of portions 468 and 469 relative to each other allows for shortening or lengthening of tibial portion 462, thereby allowing the length of
The second connection assembly 46 is arranged symmetrically with respect to the sagittal plane S with respect to the
In particular, as can be seen in fig. 1, the first pivot 461 is arranged on one side of the leg portion 45 such that the leg portion 45 is located between the sagittal plane S of the user and the first pivot 461.
In addition, the second pivot 463 is positioned on one side of the user's foot, adjacent to the ankle bone. More precisely, the second pivot 463 is positioned on one side of the middle portion 464 such that the middle portion 464 is located between the sagittal plane S of the user and the second pivot 463.
As a result, the tibial portion 462 extends on the lateral side of the user's leg (rather than the anterior portion of the tibia).
As shown in fig. 2, the axis of rotation X1 of the
In the same way, the rotation axis X1 of the pivot 461 is also oriented such that the rotation axis X1 of the pivot 461 forms a first non-zero angle α with respect to the vertical when the user stands in the anatomical reference position.
Further, as shown in fig. 2 and 3, when the user stands, the
The axis of rotation X3 is oriented such that when the user is standing in an anatomical reference position, the axis of rotation X3 forms a non-zero angle β with the user's transverse plane T, the angle β being between 5 and 15 degrees, preferably between 6 and 8 degrees, for example about 8 degrees.
In addition, as shown in FIG. 4, the
The pivot 463 of the second connection assembly 46 has a symmetrical arrangement with respect to the sagittal plane with the arrangement of the
In addition, the axis of rotation X3 is oriented such that when the user stands in the anatomical reference position, the axis of rotation X3 forms a non-zero angle γ with the user's anterior plane F, the angle γ being between 1 and 15 degrees, preferably between 4 and 7 degrees, for example about 6 degrees.
The rotation axis X3 passes above the rotation axis X2, while the rotation axes X3 and X2 do not intersect.
On the other hand, as shown in fig. 4, in the
As shown in fig. 5, the axis of rotation X2 is oriented such that when the user is standing in the anatomical reference position, the axis of rotation X2 is a non-zero angle relative to the transverse plane T of the user, the angle being between 1 and 30 degrees, preferably between 15 and 25 degrees, for example about 18 degrees.
The rotation axis X2 is oriented downward when the rotation axis X2 is followed from the hindfoot portion toward the forefoot portion. An advantage of this configuration is that an enhanced stability of the exoskeleton structure 1 is obtained even when the user is walking on irregular terrain, i.e. rough ground. Indeed, if the user places his foot on a rough feature, the point of application of the reaction forces generated by the roughness on the sole of the shoe 6 will necessarily be above the supination/pronation axis X2, so that the moment generated will have a tendency to limit the rotation exerted on the user's ankle. (conversely, in a configuration in which the axis of rotation X2 is located above the point of application of the reaction force generated by the roughness on the sole of the shoe 6, the moment generated will have a tendency to exacerbate the rotation exerted on the ankle of the user).
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