U.S. patent application number 16/065604 was filed with the patent office on 2019-11-14 for modular exoskeleton structure that provides force assistance to the user.
This patent application is currently assigned to SAFRAN ELECTRONICS & DEFENSE. The applicant listed for this patent is B-TEMIA INC., SAFRAN ELECTRONICS & DEFENSE. Invention is credited to Jonathan BAPTISTA, Stephane BEDARD, Jordane GRENIER, Roland THIEFFRY, Alexandre VAURE.
Application Number | 20190344432 16/065604 |
Document ID | / |
Family ID | 57794266 |
Filed Date | 2019-11-14 |
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United States Patent
Application |
20190344432 |
Kind Code |
A1 |
GRENIER; Jordane ; et
al. |
November 14, 2019 |
MODULAR EXOSKELETON STRUCTURE THAT PROVIDES FORCE ASSISTANCE TO THE
USER
Abstract
The invention relates to a modular exoskeleton structure that
provides force assistance to a user comprising a base module (1),
the base module (1) comprising a lumbar belt (11) capable of
surrounding the waist of the user, a battery (12) and a control
unit (13) attached to the lumber belt (11), a first attachment part
attached to the belt (11) and capable of cooperating with a second
complementary attachment part of a hip module (5) to attach the hip
module (5) to the base module (1) by snapping the second attachment
part into the first attachment part, and a third attachment part
attached to the belt (11) and capable of cooperating with a
complementary fourth attachment part of a back module for attaching
the back module to the base module (1).
Inventors: |
GRENIER; Jordane;
(BOULOGNE-BILLANCOURT, FR) ; BEDARD; Stephane;
(Quebec, CA) ; THIEFFRY; Roland;
(BOULOGNE-BILLANCOURT, FR) ; VAURE; Alexandre;
(BOULOGNE-BILLANCOURT, FR) ; BAPTISTA; Jonathan;
(BOULOGNE-BILLANCOURT, FR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SAFRAN ELECTRONICS & DEFENSE
B-TEMIA INC. |
Boulogne-Billancourt
Quebec |
|
FR
CA |
|
|
Assignee: |
SAFRAN ELECTRONICS &
DEFENSE
Boulogne-Billancourt
FR
B-TEMIA INC.
Quebec
CA
|
Family ID: |
57794266 |
Appl. No.: |
16/065604 |
Filed: |
December 23, 2016 |
PCT Filed: |
December 23, 2016 |
PCT NO: |
PCT/EP2016/082597 |
371 Date: |
June 22, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61H 2003/007 20130101;
B25J 9/0006 20130101; A61H 2201/0107 20130101; A61H 2201/1215
20130101; A61H 2201/1626 20130101; A61H 2201/165 20130101; B25J
9/08 20130101; A61H 2201/1642 20130101; A61H 2201/1616 20130101;
A61H 2201/1638 20130101; A45F 3/10 20130101; A61H 3/00 20130101;
B25J 19/005 20130101 |
International
Class: |
B25J 9/00 20060101
B25J009/00; B25J 9/08 20060101 B25J009/08; A61H 3/00 20060101
A61H003/00 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 24, 2015 |
FR |
1563348 |
Dec 24, 2015 |
FR |
1563350 |
Claims
1. A modular exoskeleton structure that provides force assistance
to a user, comprising: a base module comprising a lumbar belt
capable of surrounding the waist of the user, a first battery and a
control unit attached to the lumbar belt, a back module capable of
being attached to the back of the user, the back module comprising
a second battery, a first attachment part attached to the belt and
capable of cooperating with a second complementary attachment part
of a hip module to attach the hip module to the base module by
snapping the second attachment part into the first attachment part,
a third attachment part attached to the belt, and a fourth
complementary attachment part attached to the back module, wherein
the third attachment part is capable of cooperating with the
complementary fourth attachment part for attaching the back module
to the base module, the third attachment part and the fourth
attachment part comprising a socket and a plug capable of being
plugged into the socket to electrically connect the second battery
to the control unit when the fourth attachment part cooperates with
the third attachment part.
2. The structure according to claim 1, also comprising at least one
hip module capable of being attached to a thigh of the user, each
hip module comprising a hip actuator, the hip actuator comprising a
stator and a rotor capable of being driven in rotation with respect
to the stator to drive in rotation the hip module with respect to
the base module during a flexure or extension movement of the hip,
the second attachment part being attached to the stator of the
actuator.
3. The structure according to claim 2, wherein the first attachment
part and the second attachment part form a bayonet type attachment
device in which one of either the first part or of the second part
comprises a radial pin, and the other of the first part and the
second part comprises a curved slot in which the radial pin can
slide, the slot being curved in such a manner that the sliding of
the pin in the slot from an entrance of the slot to an end of the
slot requires a combined translation and rotation movement of the
second part with respect to the first part, the translation being
accomplished successively in a first direction, then in a second
direction opposite to the first direction.
4. The structure according to claim 3, wherein the attachment
device also comprises an elastic return element capable of urging
the second part in the second direction so as to hold the second
part snapped into the first part.
5. The structure according to claim 4, wherein when the elastic
return element urges the second part in the second direction, the
elastic return element tends to separate the second part from the
first part.
6. The structure according to claim 2, wherein the hip module
comprises a femoral portion capable of being attached to the thigh
of the user, the structure also comprising at least one knee module
comprising a tibial portion capable of being attached to the calf
of the user, and a knee joint capable of connecting the femoral
portion to the tibial portion by allowing rotation of the tibial
portion with respect to the femoral portion during a flexure and
extension movement of the knee.
7. The structure according to claim 6, wherein the knee module
comprises a connecting bar capable of being inserted into a femoral
segment of the femoral portion to attach the knee module to the hip
module.
8. The structure according to claim 7, wherein the connecting bar
is capable of sliding inside the femoral segment of the hip module
to allow adjustment of the distance between the knee joint and the
hip joint.
9. The structure according to one 6, also comprising at least one
foot module capable of being attached to the foot of the user, the
foot module comprising a connecting bar capable of being inserted
into a tibial segment of the tibial portion to attach the foot
module to the knee module.
10. The structure according to claim 2, wherein the first part and
the second part each comprise electrical contacts capable of
electrically connecting the first battery and the control unit to
the actuator when the second part is snapped into the first
part.
11. The structure according to claim 9, comprising at least one
elbow module capable of being attached to an arm of the user.
12. The structure according to claim 11, also comprising a shoulder
module capable of connecting the elbow module to the back module.
Description
FIELD OF THE INVENTION
[0001] The invention relates to a modular exoskeleton structure
that provides force assistance to a user.
PRIOR ART
[0002] Exoskeletons that provide force assistance are mechanical
structures which duplicate the structure of the human skeleton and
which allow an improvement in the physical capacities of the human
body.
[0003] There exist different exoskeletons that provide force
assistance, of which the shape and the structure depend on the
tasks to be accomplished by the user.
[0004] Generally, each exoskeleton is designed to assist the user
for accomplishing one very specific task.
[0005] For this reason, each exoskeleton is the subject of a
specific design and development, and is generally not compatible to
be used with another exoskeleton.
SUMMARY OF THE INVENTION
[0006] One aim of the invention is to propose an exoskeleton
structure which can be adapted to different uses, and which can be
supplied with electrical energy without significantly impacting the
metabolic operation of the body of the user.
[0007] This aim is achieved within the scope of the present
invention thanks to a modular exoskeleton structure that provides
force assistance to a user, comprising: [0008] a base module
comprising a lumbar belt capable of surrounding the waist of the
user, a first battery and a control unit attached to the lumbar
belt, [0009] a back module capable of being attached to the back of
the user, the back module comprising a second battery, [0010] a
first attachment part attached to the belt and capable of
cooperating with a second complementary attachment part of a hip
module to attach the hip module to the base module by snapping the
second attachment part into the first attachment part, [0011] a
third attachment part attached to the belt, and [0012] a fourth
complementary attachment part attached to the back module,
[0013] wherein the third attachment part is capable of cooperating
with the complementary fourth attachment part for attaching the
back module to the base module, the third attachment part and the
fourth attachment part comprising a socket and a plug capable of
being plugged into the socket to electrically connect the second
battery to the control unit when the fourth attachment part
cooperates with the third attachment part.
[0014] Thanks to the attachment parts, a hip module and/or a back
module can be attached rapidly and reversibly to the base
module.
[0015] Moreover, other modules can be attached to the base module,
such as a second hip module so as to assist both lower limbs of the
user, or a backpack support module for example.
[0016] The proposed structure also allows the creation, based on a
set of pre-existing modules, of different assemblies depending on
the desired uses, or the completion of an assembly to adapt it to a
new use.
[0017] Moreover, the structure can be used according to at least
two possible configurations.
[0018] According to one possible configuration, the back module is
not attached to the base module. In this configuration (without the
back module), the first battery is sufficient to supply the
actuators of the structure, particularly the actuators of the hip
module when they are attached to the base module.
[0019] According to another configuration, the back module is
attached to the base module. In this configuration, the addition of
the back module increases the consumption of electrical energy of
the structure. The second battery therefore allows the completion
of the energy contribution supplied by the first battery.
[0020] As the first battery is attached to the lumbar belt, it is
located near the center of mass of the user. This makes it possible
to obtain a distribution of the masses of the structure around the
body of the user which has little impact on the metabolic operation
of the body (the energy cost for the body is minimal).
[0021] Moreover, the first battery can have reduced bulk, which
avoids in particular impeding the natural sway of the arms of the
user when walking.
[0022] The second battery, for its part, is not positioned on the
base module with the first battery, but rather on the back module.
This allows avoiding an increase in volume of the base module which
would have the effect of impeding the natural sway of the arms of
the user when walking.
[0023] In fact, when the volume disposed around the waist
constrains the natural sway of the arms, it then becomes more
advantageous to dispose the mass of the second battery on the back
module; given the positive impact of the sway of the arms on the
energy of the center of mass.
[0024] Thus, the disposition of the first battery in the base
module and the second battery in the back module leads to a
distribution of masses of the batteries which minimizes the impact
of the masses on the metabolic operation of the body.
[0025] The proposed modular structure can also have the following
features: [0026] the structure also comprises at least one hip
module capable of being attached to a thigh of the user, each hip
module comprising a hip actuator, the hip actuator comprising a
stator and a rotor capable of being driven in rotation with respect
to the stator to drive in rotation the hip module with respect to
the base module during a flexure or extension movement of the hip,
the second attachment part being attached to the stator of the
actuator, [0027] the first attachment part and the second
attachment part form a bayonet type attachment device in which one
of either the first part or of the second part comprises a radial
pin, and the other of the first part and the second part comprises
a curved slot in which the radial pin can slide, the slot being
curved in such a manner that the sliding of the pin in the slot
from an entrance of the slot to an end of the slot requires a
combined translation and rotation movement of the second part with
respect to the first part, the translation being accomplished
successively in a first direction, then in a second direction
opposite to the first direction, [0028] the attachment device also
comprises an elastic return element capable of urging the second
part in the second direction so as to hold the second part snapped
into the first part, [0029] when the elastic return element urges
the second part in the second direction, the elastic return element
tends to separate the second part from the first part, [0030] the
hip module comprises a femoral portion capable of being attached to
the thigh of the user, the structure also comprising at least one
knee module comprising a tibial portion capable of being attached
to the calf of the user, and a knee joint capable of connecting the
femoral portion to the tibial portion by allowing a rotation of the
tibial portion with respect to the femoral portion during a flexure
and extension movement of the knee, [0031] the knee module
comprises a connecting bar capable of being inserted in a femoral
segment of the femoral portion to attach the knee module to the hip
module, [0032] the connecting bar is capable of sliding inside the
femoral segment of the hip module to allow adjustment of the
distance between the knee joint and the hip joint, [0033] the
structure also comprises at least one foot module capable of being
attached to the foot of the user, the foot module comprising a
connecting bar capable of being inserted in a tibial segment of the
tibial portion to attach the foot module to the knee module, [0034]
the first part and the second part each comprise electrical
contacts capable of electrically connecting the first battery and
the control unit to the actuator when the second part is snapped
into the first part, [0035] the structure comprises at least one
elbow module capable of being attached to an arm of the user,
[0036] the structure also comprises a shoulder module capable of
connecting the elbow module to the back module.
[0037] The invention also relates to a back module for an
exoskeleton structure, comprising a segment of spinal column
designed to extend along a spinal column of a user, the spinal
column segment comprising a plurality of vertebral elements,
stacked on one another, and a flexible connecting element
connecting the vertebral elements to one another, the spinal column
segment having a stable equilibrium position in which the flexible
connecting element retains the vertebral elements supported against
one another and the flexible connecting element being elastic so
that, during a movement of the back of the user, the flexible
connecting element allows a displacement of the vertebral elements
with respect to one another, while still exerting a return force
tending to return the spinal column segment to the stable
equilibrium position.
[0038] Such a back module allows the upper body of a user to be
assisted in supporting loads, while conferring a greater freedom of
movement.
[0039] The spinal column segment being formed from a plurality of
vertebral elements supported against one another, it allows
transmission of a vertical load exerted on the back module and
accommodation of the movements of the upper body of the user. In
fact, the flexible element allows a certain degree of freedom of
the vertebral elements with respect to one another, which confers a
certain freedom of movement of the spinal column.
[0040] Moreover, the number of vertebral elements can be adjusted
depending on the size of the user, which allows the exoskeleton
structure to be easily adapted to the morphology of the user.
[0041] The module can also show the following characteristics:
[0042] the flexible connecting element exerts a compression force
on the vertebral elements so as to maintain the elements of the
vertebral elements in support against one another in the stable
equilibrium position, [0043] the flexible connecting element
extends inside the spinal column segment through each of the
vertebral elements, the flexible connecting element being held
under tension so as to exert a compression force on the vertebral
elements, [0044] each vertebral element has a recess and a
protrusion, each protrusion being capable of being received in a
recess of another vertebral element situated immediately above or
below in the stack, [0045] each vertebral element is connected to a
following vertebral element by a connection allowing a flexural
and/or radial rotation and/or lateral inclination movement of the
back of the user, [0046] each vertebral element has an arched
shape, with a concavity oriented toward the lower part of the
spinal column when the spinal column segment extends along the
spinal column of the user, [0047] the module also comprises one or
more electrical transmission or data transmission cable(s)
extending inside the spinal column segment through each of the
vertebral elements, for connecting a battery and/or actuators
and/or sensors to a control module of the exoskeleton structure, or
for connecting two control modules of the exoskeleton structure,
[0048] the electrical transmission or data cable(s) have a length
greater than a length of the spinal column segment, so that they
allow a deformation of the spinal column segment without undergoing
stretching, [0049] the module comprises a connecting device
comprising an attachment part attached to a lower end of the spinal
column segment, the attachment part being capable of being attached
to a complementary attachment part attached to a lumbar belt of a
base module of the exoskeleton structure to attach the back module
to the base module.
[0050] The invention also relates to an exoskeleton structure that
provides force assistance to a user, comprising: [0051] a base
module comprising a lumbar belt capable of surrounding the waist of
the user, and an attachment part attached to the belt, and [0052] a
back module as previously defined, comprising an attachment part
attached to a lower end of the spinal column segment, the
attachment part of the back module being capable of being attached
to the attachment part of the belt for attaching the back module to
the base module,
[0053] so that a weight applied to the spinal column element is
transferred to the base module.
[0054] In one embodiment of the invention, the base module
comprises a control unit and a battery attached to the belt, and
the back module comprises and additional battery and/or actuators,
and the attachment parts each comprise electrical contacts capable
of electrically connecting the battery and the control unit of the
base module to the battery and/or the actuators of the back module
when the attachment part of the back module is attached to the
attachment part of the base module.
PRESENTATION OF THE DRAWINGS
[0055] Other features and advantages will also be revealed by the
description that follows, which is purely illustrative and not
limiting and must be read with reference to the appended figures,
among which:
[0056] FIG. 1 shows schematically, in front view, a user equipped
with an exoskeleton structure conforming to a possible embodiment
of the invention,
[0057] FIGS. 2 and 3 show schematically, in back view and in
profile view, the user equipped with the exoskeleton structure in
conformity with a first possible configuration of the
invention,
[0058] FIGS. 4 and 5 show schematically, in back view and in
profile view, the user equipped with the exoskeleton structure in
conformity with a second possible configuration of the
invention,
[0059] FIGS. 6 and 7 show schematically, in back view and in
profile view, the user equipped with the exoskeleton structure, in
conformity with a third possible configuration of the
invention,
[0060] FIGS. 8A and 8B show schematically a hip joint connecting a
hip module to the base module,
[0061] FIG. 9 shows schematically an attachment device for
attaching the hip module to the base module,
[0062] FIGS. 10A and 10B show schematically the attachment device
in the unlocked configuration and in the locked configuration
respectively,
[0063] FIG. 11 shows schematically lower modules of the exoskeleton
structure,
[0064] FIGS. 12A to 12E show schematically a shoe equipped with a
foot module, during different phases of walking of the user,
[0065] FIG. 13 shows schematically, in enlarged view, upper modules
of the exoskeleton structure,
[0066] FIG. 14 shows schematically a spinal column segment forming
part of the back module,
[0067] FIG. 15 shows schematically a vertebral element of the
spinal column segment,
[0068] FIGS. 16 to 18 show schematically a shoulder module,
[0069] FIG. 19 shows schematically an attachment device for
attaching the shoulder module to the elbow module,
[0070] FIGS. 20 and 21 show schematically a backpack support
module,
[0071] FIG. 22 shows schematically an attachment device for
attaching the backpack support module to each hip module.
DETAILED DESCRIPTION OF ONE EMBODIMENT
Modular Structure
[0072] In FIGS. 1 to 7, the exoskeleton structure shown comprises a
base module 1, a back module 2, two shoulder modules 3, two elbow
modules 4, two hip modules 5, two knee modules 6, two foot modules
7 and a backpack support module 14.
[0073] The exoskeleton structure illustrated in these figures can
be used in different configurations, so as to obtain different
exoskeletons adapted to different uses.
[0074] In a first configuration illustrated in FIGS. 1 to 3, the
exoskeleton is formed by assembling the base module 1, the back
module 2, the two shoulder modules 3, the two elbow modules 4, the
two hip modules 5, the two knee modules 6 and the two foot modules
7.
[0075] In a second configuration illustrated in FIGS. 4 and 5, the
exoskeleton is formed by assembling only the base module 1, the
back module 2, the two shoulder modules 3 and the two elbow modules
4.
[0076] In a third configuration illustrated in FIGS. 6 and 7, the
exoskeleton is formed by assembling only the base module 1, the two
hip modules 5, the two knee modules 6, the two foot modules 7 and
the backpack support module 14.
[0077] The three examples of configurations illustrated in these
figures are obtained based on three different assemblies of the
modular exoskeleton structure. However, other configurations would
of course be practicable. In these different configurations, the
exoskeleton is formed from one or more modules assembled
together.
[0078] As illustrated in FIGS. 1 to 3, the base module 1 comprises
a lumbar belt 11 capable of surrounding the lower trunk of the
user. The lumbar belt 11 is disposed around the waist of the user,
supported on the hips of the user. The base module 1 also comprises
a first battery 12 allowing the different actuators of the
structure to be supplied with electrical energy, and a control unit
13 programmed to control the different actuators. The first battery
12 and the control unit 13 are attached to the lumbar belt 11.
[0079] The back module 2 is adapted to be attached to the upper
body of the user above the base module 1, along the back of the
user.
[0080] The elbow modules 4 are adapted to be attached to the arms
of the user, respectively to the right arm and to the left arm.
[0081] Each shoulder module 5 is adapted to connect the back module
2 to a respective elbow module 4.
[0082] The back module 2, the shoulder modules 3 and the elbow
modules 4 form an assembly of upper modules which have the function
of assisting the user with all the forces that he produces with his
upper body, for example when he carries out repetitive work with
his upper body.
[0083] The hip modules 5 are adapted to be attached to the thighs
of the user, respectively to the right thigh and to the left thigh
of the user.
[0084] The knee modules 6 are adapted to be attached to the calves
of the user, respectively to the calf of the right leg and to the
calf of the left leg of the user.
[0085] The foot modules 7 are adapted to be attached to the feet of
the user, respectively to the right foot and to the left foot.
[0086] The hip modules 5, the knee modules 6 and the foot modules 7
form an assembly of lower modules which have as their function to
assist the user in the forces that he produces with his lower body,
particularly when walking or when he carries or moves loads.
[0087] It will be noted that the hip modules 5 are symmetrical to
one another. The hip modules 5 therefore comprise portions that are
identical or similar.
[0088] Likewise, the knee modules 6 are symmetrical to one another
and comprise identical or similar portions.
[0089] The same is true of the foot modules 7, of the shoulder
modules 3 and of the elbow modules 4.
Hip Module
[0090] As illustrated in FIGS. 1 to 3, each hip module 5 comprises
a femoral portion 51 capable of being attached to the thigh of the
user, and a hip joint 52.
[0091] The femoral portion 51 comprises a femoral segment 511
designed to extend along the thigh of the user and attachment
straps 512 capable of surrounding the thigh of the user to attach
the femoral segment 511 to the thigh.
[0092] Each hip module 5 is connected to the base module 1 through
a respective hip joint 52. More precisely, the hip joint 52 allows
the femoral portion 51 of the hip module 5 to be connected to the
belt 11 of the base module 1.
Hip Joint
[0093] As illustrated in FIG. 8A and 8B, the hip joint 52 comprises
a hip actuator 521 allowing assistance to the user during flexure
or extension movement of the hip of the user. The actuator 521
comprises a stator 522 and a rotor 523 capable of being driven in
rotation with respect to the stator 522 when the stator 522 is
supplied with electrical energy to drive in rotation the hip module
5 with respect to the base module 1 during a flexure or extension
movement of the hip.
[0094] The hip joint 52 also comprises an elastic return element
524 arranged to exert an elastic return force which assists the
rotor 523 when the user stands up from a seated or squatting
position. The elastic return element 524 can comprise a preloaded
spring disposed between the stator 522 and the rotor 523, in a
guide groove 525 provided between the stator 522 and the rotor
523.
[0095] More precisely, the elastic return element 524 is arranged
so that: [0096] in a first angular range .alpha..sub.1 of movement
of the rotor 523 with respect to the stator 522, corresponding to
an angular range in which the rotor 523 is located when the user
walks or runs (FIG. 8A), the elastic return element 524 does not
exert any return force on the rotor 523, and [0097] in a second
angular range .alpha..sub.2 of movement of the rotor 523 with
respect to the stator 522, corresponding to an angular range in
which the rotor 523 is located when the user sits or squats (FIG.
8B), the elastic return element 524 exerts a return force on the
rotor 523.
[0098] To this end, the hip joint 52 comprises a tappet 526 mounted
fixedly on the rotor 523, the tappet 526 being capable of loading
the elastic element 525 in compression only when the rotor 523 is
located in the second angular range .alpha..sub.2.
[0099] In this second range, the return force exerted by the
elastic element 524 tends to oppose a rotation of the rotor 523
with respect to the stator 522 in a first direction of rotation
(arrow A) and to assist a rotation of the rotor 523 with respect to
the stator 522 in a second direction of rotation (arrow B),
opposite to the first direction of rotation.
[0100] The first direction of rotation (arrow A) is the direction
of rotation of the rotor 523 with respect to the stator 522 when
the user bends the thigh with respect to the upper body (when the
user sits or squats).
[0101] The second direction of rotation (arrow B) is the direction
of the rotor 523 with respect to the stator 522 when the user
extends the thigh with respect to the upper body (when the user
rises after having sat or squatted).
[0102] In other words, when the rotor 523 is located in the second
angular range .alpha..sub.2, the elastic return element 524 exerts
on the rotor 523 a return force which tends to oppose a rotation of
the hip module 5 with respect to the base module 1 during a flexure
movement of the hip and assist a rotation of the hip module 5 with
respect to the base module 1 during an extension movement of the
hip.
[0103] The first angular range .alpha..sub.1 corresponds to a
flexure or extension movement of the hip comprised for example
between +60 degrees and -15 degrees with respect to a frontal plane
PF of the user.
[0104] The second angular range .alpha..sub.2 corresponds to a
flexure or an extension movement of the hip greater than +90
degrees with respect to the frontal plane PF of the user.
[0105] Thus, in the first angular range .alpha..sub.1 of movement
of the rotor of the actuator, the user benefits from active
assistance through the actuator 521, which in the second angular
range .alpha..sub.2 of movement of the rotor of the actuator, the
user benefits totally or as a supplement from passive assistance
through the elastic return element 524.
[0106] In this manner, the power delivered by the actuator 521 is
limited in the second angular range of movement.
[0107] The elastic element 524 can be supported against an abutment
allowing the spring to be kept pre-loaded. The position of the
abutment with respect to the stator can be adjustable, by means of
screws for example, so as to be able to modify the angular ranges
defined above.
Device for Attaching the Hip Module to the Base Module
[0108] The exoskeleton structure also comprises an attachment
device 8 allowing the hip module 5 to be attached to the base
module 1.
[0109] FIGS. 9, 10A and 10B show schematically the attachment
device 8. In the embodiment illustrated in these figures, the
attachment device 8 is a so-called "bayonet type" attachment
device. The attachment device 8 is capable of passing from an
unlocked configuration (illustrated in FIG. 10A) in which the hip
module 5 is detached from the base module 1, to a locked
configuration (illustrated in FIG. 10B) in which the hip module 5
is attached to the base module 1.
[0110] The attachment device 8 comprises a first part 81 mounted
fixedly on the base module 1 and a second part 82 mounted fixedly
on the hip module 5. More precisely, the first part 81 is attached
to the belt 11. The second part 82 is attached to the stator 522 of
the actuator 521.
[0111] The second part 82 is capable of being snapped into the
first part 81, so as to allow the reversible attachment of the hip
module 5 to the base module 1.
[0112] The first part 81 comprises a body 811 having an insertion
opening 812, and having an internal guide surface 813, with a
cylinder-of-revolution shape. The body 811 has a free edge 814 with
a circular shape delimiting the insertion opening 812. The first
part 81 comprises two slots 815 formed in the body 812 at
diametrically opposite positions. Each slot 815 extends from the
free edge 814 of the first part 81 and has an end 816. Moreover,
each slot 815 has a U (or hairpin) shape and comprises two straight
portions 817, 819 and a curved portion 818. The first straight
portion 817 extends from the free edge from the entrance to the
slot 815 to the curved portion 818, in a direction parallel to the
axis X of the internal guide surface 813. The curved portion 818
extends from the first straight portion 817 to the second straight
portion 819, forming a bend. The second straight portion 819
extends from the curved portion to the end 816. The portions thus
delimit a boss 831 in the body 811 of the first part 81.
[0113] The second part 82 comprises a body 821 having an external
guide surface 823 with a cylinder-of-revolution shape. The second
part 82 is capable of being inserted into the first part 81 through
the opening 812. The insertion of the second part 82 into the first
part 81 is guided by the cylindrical surfaces 813 and 823 in
contact with one another. The second part 82 comprises two radial
pins 825 situated in diametrically opposite positions, and
protruding from the external surface 823. The radial pins 825 are
capable of being engaged in the slots 815 of the first part 81 when
the second part 82 is inserted into the first part 81.
[0114] The first part 81 is capable of being inserted into the
second part 82 in a first direction (arrow C) parallel to the axis
X, corresponding to an insertion direction.
[0115] The attachment device 8 also comprises an elastic return
element 83, in the form of a spring, capable of loading the second
part 82 in a second direction (arrow D), opposite to the first
direction. The elastic element 83 thus tends to oppose the
insertion of the second part 82 into the first part 81.
[0116] In the unlocked position (FIG. 10A), the second part 82 is
disengaged from the first part 81.
[0117] In the locked configuration (FIG. 10B), the second part 82
is engaged in the first part 81.
[0118] The locking of the attachment device 8 is accomplished by
inserting the second part 82 into the first part 81 through the
insertion opening 812. During this insertion, each pin 825 is
introduced into a respective slot 815.
[0119] Then the second part 82 is moved with respect to the first
part 81 so as to cause each pin 825 to slide in the slot 815 in
which it is received. Due to the shape of the slot 815, the sliding
of the pin 825 from the entrance of the slot 815 to the end 816 of
the slot 815 necessitates a combined movement of translation,
parallel to the axis X, and rotation around the axis X, of the
second part 82 with respect to the first part 81. The second part
82 is first translated with respect to the first part 81 in the
first direction (insertion direction) counter to the return force
exerted by the elastic element 83. Then the second part 82 is
translated in the second direction, opposite to the first
direction, while undergoing rotation with respect to the first part
81 around the axis X.
[0120] Once the pin 825 is positioned at the end 816 of the slot
815, the second part 82 is blocked in rotation with respect to the
first part 81 by the boss 831. Moreover, the elastic element 83
loads the second part 82 in the second direction, which has the
effect of retaining the pin 825 in abutment against the end 816 of
the slot 815. The elastic element 83 and the boss 831 block the pin
825 in the slot 815 and prevent disengagement of the pin 815 from
the slot 825.
[0121] In this manner, the second part 82 is held snapped into the
first part 81.
[0122] The un-snapping of the second part 82 is obtained by
carrying out the reverse operation, that is by causing each pin 815
to slide along the reverse path from the end 816 of the slot 815 to
the entrance of the slot 815. The sliding of the pion 815 from the
end 816 of the slot 815 to the entrance of the slot 815 again
necessitates a combined translation and rotation movement of the
second part 82 with respect to the first part 81. The second part
82 is first translated with respect to the first part 81 in the
first direction (insertion direction) counter to the return force
exerted by the elastic element 83 while undergoing reverse rotation
with respect to the first part 81. Then the second part 82 is
translated with respect to the first part 81 in the second
direction.
[0123] Moreover, the first part 81 and the second part 82 each
comprise electrical contacts capable of electrically connecting the
first battery 12 and the control unit 13 of the base module 1 to
the actuator when the second part 82 is in the locked configuration
in the first part 81.
Knee Module
[0124] As illustrated in FIG. 3, each knee module 6 comprises a
connecting bar 61, a knee joint 62 and a tibial portion 63 capable
of being attached to the calf of the user.
[0125] The connecting bar 61 is capable of sliding inside the
femoral segment 511 of the hip module 5, so as to attach the knee
module 6 to the hip module 5, while allowing adjustment of the
distance between the hip joint 52 and the knee joint 62. A set
screw allows the immobilization of the connecting bar 61 with
respect to the femoral segment 511.
[0126] The tibial portion 63 comprises a tibial segment 631
designed to extend along the calf of the user and attachment straps
632 capable of surrounding the shaft of the user to attach the
segment 631 to the calf.
[0127] Once the knee module 6 is attached to the hip module 5, the
tibial portion 51 is connected to the femoral portion 51 through
the knee joint 62. The knee joint 62 allows a rotation of the
tibial portion 63 with respect to the femoral portion 51 in a plane
parallel to the sagittal plant of the user (corresponding to a
flexure or extension of the knee of the user).
[0128] The knee joint 62 can comprise an actuator allowing
assistance to the user during flexure or extension movement of the
knee.
[0129] The actuator of the knee joint 62 can be identical to the
actuator 521 of the hip joint illustrated in FIGS. 8A and 8B. In
particular, the actuator can comprise a stator, a rotor capable of
being driven in rotation with respect to the stator to drive in
rotation the knee module with respect to the hip module during a
flexure or extension movement of the knee, and an elastic return
element arranged to exert an elastic return force which assists the
actuator when the user rises from a seated or squatting position.
The elastic return element can comprise a pre-loaded spring
disposed between the stator and the rotor, in a guide groove
provided between the stator and the rotor.
[0130] However, in the case of a knee joint actuator, the angular
ranges are different. The first angular range .alpha..sub.1
corresponds to a flexure or extension movement of the knee
comprised for example between +15 degrees and -60 degrees with
respect to a frontal plane PF of the user. The second angular range
.alpha..sub.2 corresponds to a flexure or extension movement of the
knee less than -60 degrees with respect to the frontal plane PF of
the user.
[0131] The adjustment of the angular ranges can be obtained by
modifying the position of the abutment to which the spring is
applied, with respect to the stator.
Foot Module
[0132] As illustrated in FIG. 3, the foot module 7 is attached to
the knee module 6.
[0133] The foot module 7 comprises a connecting bar 71, an ankle
joint 72 and a foot portion 73 capable of being attached to the
foot of the user.
[0134] The connecting bar 71 is capable of sliding inside the
tibial segment 631 of the knee module 6 so as to attach the foot
module 7 to the knee module 6, while allowing adjustment of the
distance between the knee joint 62 and the ankle joint 72. A set
screw allows immobilizing the connecting bar 71 with respect to the
tibial segment 631.
[0135] As illustrated in FIG. 11, the foot portion 73 comprises a
first segment 731, a first support plate 732, a second segment 733,
a third segment 734 and a second support plate 735.
[0136] The ankle joint 72 allows rotation of the foot module 7 with
respect to the knee module 6 during a flexure or extension
movement, during a pronation or supination movement and during an
eversion or inversion movement of the ankle of the user.
[0137] The ankle joint 72 comprises a first frame 721, a second
frame 722 capable of turning with respect to the first frame 721
during a rotation movement of the foot of the user with respect to
the calf, and an elastic element 723 disposed between the frames
721 and 722.
[0138] The first frame 721 is mounted fixedly on the connecting bar
71 of the foot module 7 and the second frame 722 is mounted fixedly
on the first segment 731 of the foot portion 73.
[0139] The elastic element 723 comprises a ring formed from an
elastomeric material, pre-compressed between the first frame 721
and the second frame 722. The elastic element 723 is capable of
exerting a return force tending to oppose the relative rotation of
the second frame 722 with respect to the first frame 721.
[0140] The first segment 731 connects the ankle joint 72 to the
first support plate 732. More precisely, the first segment 731 has
a first end attached to the second frame 722 and a second end
attached to the first support plate 732.
[0141] The second segment 733 and the third segment 734 connect the
first support plate 732 to the second support plate 735 while
forming an angle between them.
[0142] The second support plate 735 can have, on its lower surface
designed to be in contact with the ground, an anti-skid coating,
made for example of grooved rubber.
[0143] In FIGS. 12A to 12D, the foot module 7 is used with a boot
9, of the "ranger" or "combat boot" type for example. The boot 9 is
designed to support a load applied on top of the boot 9 which can
go up to 40 kilograms. The boot 9 can also comprise a shell
protecting the front of the foot and/or reinforcing elements made
of metal.
[0144] As illustrated in FIG. 12A, the first support plate 732 is
designed to support the top of the boot 9 of the user.
[0145] The second support plate 735 is designed to be supported on
the ground S when the user is standing on the ground. The second
support plate 735 is arranged so that it is disposed below the sole
91 of the boot 9 of the user, in a recess 92 formed in the sole
between the heel 93 and the forefoot 94.
[0146] The first segment 731 and the second segment 733 form a
V-shaped spring. The spring is capable of being compressed when the
sole 91 of the boot 9 is in contact with the ground (segments 731
and 733 move closer together) and to be expanded when the sole 91
of the boot 9 is not in contact with the ground S (segments 731 and
733 move away from each other).
[0147] The second segment 733 and the third segment 734 are
connected to one another by an angle situated below the ankle joint
72. More precisely, the vertical axis V passing through the center
of rotation of the ankle joint 72 intersects the two segments 733
and 734, when the user is in the standing position. This position
of the segments 733 and 734 with respect to the ankle joint 72
allows the creation of a downward deformation of the foot portion
73, and therefore ensures that the foot portion 73 tends to press
on the front of the boot 9, and not to raise the front of the
boot.
[0148] FIGS. 12A to 12E illustrate different phases of the walking
cycle of the user.
[0149] In FIG. 12A, the sole 91 of the boot 9 is in contact with
the ground S. During this phase, the second support plate 735 is in
contact with the ground S. The spring formed by the segments 731
and 733 is compressed so that the weight exerted on the foot module
7 is transferred to the ground S via the second support plate
735.
[0150] In FIG. 12B, the heel 93 of the boot 9 detaches from the
ground S. During this phase, the spring formed by the segments 731
and 733 expands. As it expands, the spring exerts on the foot
module 7 an upward return force F which assists the user in lifting
the foot.
[0151] In FIG. 12C, only the front 94 of the sole 91 of the boot 9
is in contact with the ground S. The spring formed by the segments
731 and 733 is expanded. The weight exerted on the foot module 7 is
then transferred to the boot 9 via the first support plate 732. As
long as the boot 9 is in contact with the ground, the weight is
transferred to the ground via the boot 9.
[0152] In FIG. 12D, once the foot has been lifted from the ground
S, the weight is exerted mainly on the other foot module 7 of the
exoskeleton structure.
[0153] In FIG. 12E, the user again places the heel 93 on the ground
S. During this phase, the second support plate 735 is again in
contact with the ground S, which has the effect of compressing the
spring formed by the segments 731 and 733. The spring formed by the
segments 731 and 733 is compressed until the weight exerted on the
foot module is transferred to the ground S via the second support
plate 735.
[0154] The foot module 7 allows transferring the load which is
exerted on the exoskeleton to the ground S: when walking, the load
is transferred to the ground successively via the second support
plate 735, then via the first support plate 732 and the boot 9 of
the user.
[0155] The foot module 7 allows adaptation to boots currently in
use by the military, without necessitating modification of the
boot. The foot module 7 can be used with a standard boot and does
not require modification or adaptation of the boot.
[0156] The foot module 7 also allows the load carried by the user
to be transferred to the ground, including during walking phases,
and this for any type of terrain.
Back Module
[0157] FIG. 13 shows schematically, in enlarged view, the back
module 2.
[0158] The back module 2 comprises a spinal column segment 21, a
backrest 22 and straps 23 allowing the backrest 22 to be attached
to the back of the user.
[0159] The spinal column segment 21 extends along the spinal column
of the user when the back module 2 is attached to the back of the
user. More precisely, the spinal column segment 21 extends between
the belt 11 of the base module 1 and the backrest 22.
[0160] The backrest 22 comprises a casing 221 and a second battery
222 housed in the casing 221.
[0161] Each shoulder module 3 is capable of being connected to the
back module 2.
[0162] The exoskeleton structure also comprises an attachment
device 24 allowing the back module 2 to be attached to the base
module 1.
[0163] The attachment device 24 comprises a third part 241 mounted
fixedly on the base module 1 and a fourth part 242 mounted fixedly
on the back module 2. More precisely, the third part 241 is
attached to the belt 11. The fourth part 242 is attached to a lower
end of the spinal column segment 21.
[0164] The fourth part 242 is capable of being attached to the
third part 241, using screws for example, to attach the back module
2 to the base module 1.
[0165] In addition, the third part 241 and the fourth part 242
comprise a socket and a plug capable of being plugged into the
socket to electrically connect the second battery 222 of the back
module 2 to the control unit 13 of the base module 1 when the
fourth part 242 is attached to the third part 241.
Spinal Column Segment
[0166] FIG. 14 illustrates more precisely the spinal column segment
21. The spinal column segment 21 comprises a plurality of vertebral
elements 211 stacked on top of each other.
[0167] The number of vertebral elements 211 can be adjusted
depending on the size of the user, which allows easy adaptation of
the exoskeleton structure to the morphology of the user.
[0168] Alternatively or as a complement, the backrest 22 can be
mounted sliding along the spinal column segment 21 so as to allow
an adjustment of the back module 2.
[0169] The vertebral elements 211 can be formed from a rigid and
light material, such as a composite material based on epoxy polymer
filled with carbon fibers for example.
[0170] The spinal column segment 21 also comprises one or more
flexible connecting element(s) 212 allowing the vertebral elements
211 to be connected to one another.
[0171] In the example illustrated in FIG. 14, each flexible
connecting element 212 extends inside the stack, passing through
each of the vertebral elements 211. However, as a variant, the
spinal column segment 21 could comprise a flexible connecting
element in the form of a flexible tubular sheath encapsulating the
vertebral elements 211.
[0172] In the example illustrated in FIG. 14, each flexible
connecting element 212 is an elongated element, such as a cable or
an elastic cord.
[0173] Each flexible connecting element 212 has a first end
connected to the casing 221 of the backrest 22 and a second end
connected to the fourth attachment part 242.
[0174] Each flexible connecting element 212 is held under tension
inside the vertebral elements 211 so as to exert a longitudinal
compression force on the vertebral elements 211. The compression
force has the effect of holding the vertebral elements 211 squeezed
against one another.
[0175] In this manner, the spinal column segment 21 has a stable
equilibrium position.
[0176] However, due to their elasticity, the flexible connecting
elements 211 allow deformation of the spinal column segment 21
during movements of the back of the user (flexure and/or radial
rotation movements and/or lateral inclination of the back), while
exerting on the vertebral elements 211 a return force tending to
return the spinal column segment 21 to its stable equilibrium
position.
[0177] As illustrated in FIG. 15, each vertebral element 211
comprises a body 213 having an arched shape, with a concavity
oriented toward the bottom of the spinal column when the spinal
column segment 21 extends along the spinal column of the user and
the user is standing.
[0178] Each vertebral element 211 has a recess 214 and a protrusion
215, each protrusion 215 being capable of being received in a
recess 214 of another vertebral element 211 situated immediately
above or below in the stack.
[0179] Each vertebral element 211 if thus connected to the
following vertebral element by socketing a protrusion 215 into a
recess 214. The recess 214 and the protrusion 215 have shapes such
that they allow a lateral inclination movement of the vertebral
element 211 with respect to the following one. Thus the recess 214
and the protrusion 215 form a connection between two vertebral
elements 211 allowing a lateral inclination of the trunk of the
user.
[0180] Moreover, each vertebral element 211 has channels 221 and
223 provided inside the body 213 for the passage of flexible
connecting elements 212 and for the passage of electrical
transmission cable(s) 224.
[0181] The back module 2 also comprises one or more electrical
transmission or data transmission cable(s) 224 extending inside the
spinal column segment 21 through each of the vertebral elements
211, for connecting the second battery 222 and actuators or sensors
of the back module 2 to the control unit 13 of the base module
1.
[0182] It should be noted that the electrical transmission cable(s)
224 have a greater length than the length of the spinal column
segment 21 so that they allow deformation of the spinal column 21
without risking damaging the cable(s).
[0183] The spinal column segment 21 allows both transmitting a
vertical load exerted on the back module 2 while allowing a certain
freedom of movement of the spinal column of the user.
Elbow Module
[0184] As illustrated in FIGS. 1 to 5 and 13, each elbow module 4
comprises a humeral portion 41 capable of being attached to the arm
of the user, an elbow joint 42 and a radial portion 43 capable of
being attached to the forearm of the user.
[0185] The humeral portion 41 comprises a humeral segment 411
capable of extending along the arm of the user, and attachment
straps 412 capable of surrounding the arm of the user to attach the
humeral segment 411 to the arm.
[0186] The radial portion 43 comprises a radial segment 431 capable
of extending along the forearm of the user and attachment straps
432 capable of surrounding the forearm of the user to attach the
radial segment 431 to the forearm.
[0187] The radial portion 43 is connected to the humeral portion 41
through the elbow joint 42. The elbow joint 42 allows rotation of
the radial portion 43 with respect to the humeral portion 41
corresponding to a flexure or extension movement of the elbow of
the user. The elbow joint 42 can also comprise an elbow actuator to
assist the user during a flexure or extension movement of the
elbow.
Shoulder Module
[0188] FIGS. 16 to 18 show schematically a shoulder module 3.
[0189] Each shoulder module 3 is capable of connecting an elbow
module 4 to the back module 2.
[0190] The shoulder module 3 allows movement of the elbow module 4
with respect to the back module 2 according to three degrees of
freedom, namely: [0191] rotation of the elbow module 4 around a
first axis parallel to an abduction or adduction axis of the
shoulder, [0192] rotation of the elbow module around a second axis
parallel to an external or internal axis of rotation of the
shoulder, [0193] rotation of the elbow module around a third axis
parallel to a flexure or extension axis of the shoulder.
[0194] The shoulder module 3 comprises a first pivot 31, a four-bar
mechanism 32, a second pivot 33, a first connecting part 34 a third
pivot 35, a second connecting part 36, a fourth pivot 37, a third
connecting part 38, a fifth pivot 39, and a third connecting part
310.
[0195] The four-bar mechanism 32 comprises a first bar 321, a
second bar 322, a first joint 325 connecting the second bar 322 to
the first bar 321, a third bar 323, a second joint 326 connecting
the third bar 323 to the second bar 322, a fourth bar 324, a third
joint 327 connecting the fourth bar 324 to the third bar 323 and a
fourth joint 328 connecting the fourth bar 324 to the first bar
321.
[0196] The four bars 321 to 324 are connected to one another by the
four joints 325 to 328 so as to form a deformable parallelogram in
a plane parallel to the coronal plane of the user. The four-bar
mechanism 32 also comprises an elastic element 329, extending along
a diagonal of the parallelogram and connecting the first joint 325
to the third joint 327 so as to create, on the four bars 321 to
324, a return force tending to oppose a deformation of the
parallelogram due to the force of gravity exerted on the shoulder
module 3. The elastic return element 329 is a tension spring of
which one of the ends is connected to the first joint 325 and the
other end is connected to the third joint 327.
[0197] The first bar 321 is mounted in rotation with respect to the
casing 221 of the backrest 22 by means of the first pivot
connection 31, around a substantially vertical axis.
[0198] Likewise, the third bar 323 is mounted in rotation with
respect to the first connecting part 34 by means of the second
pivot 33, around a substantially vertical axis.
[0199] The second connecting part 36 is mounted in rotation with
respect to the first connecting part 34 by means of the third pivot
35. The third pivot 35 comprises an actuator.
[0200] The actuator comprises a stator and a rotor capable of being
driven in rotation with respect to the stator around the first axis
of rotation, the first axis of rotation being perpendicular to the
axis of the second pivot 33. The actuator allows assisting the user
during an abduction or adduction movement of the shoulder. To this
end, the first axis of rotation X.sub.1 is parallel to the axis of
abduction or adduction of the shoulder.
[0201] The third connecting part 38 is connected to the second
connecting part 36 by means of the fourth pivot 37. The fourth
pivot 37 allows rotation of the third connecting part 38 with
respect to the second connecting part 36 around a second axis of
rotation X.sub.2 corresponding to an external or internal rotation
movement of the arm of the user.
[0202] The fourth connecting part 310 is mounted in rotation with
respect to the third connecting part by means of the fifth pivot
39. The fifth pivot 39 allows rotation of the fourth connecting
part 310 with respect to the third connecting part 38 around a
third axis of rotation X.sub.3. The fifth pivot 39 comprises an
actuator.
[0203] The actuator comprises a stator and a rotor capable of being
driven in rotation with respect to the stator around the third axis
of rotation X.sub.3, the third axis of rotation X.sub.3 being
perpendicular to the axis of the fourth pivot 37. The actuator
allows assisting the user during a flexure or extension movement of
the shoulder. To this end, the third axis of rotation X.sub.3 is
parallel to the axis of flexure and extension of the shoulder.
[0204] The first axis of rotation X.sub.1 of the third pivot 35
intersects the second axis of rotation X.sub.2 of the fourth pivot
37, perpendicular to it. Likewise, the third axis of rotation
X.sub.3 of the fifth pivot 39 intersects the second axis of
rotation X.sub.2 of the fourth pivot 37, perpendicular to it.
However, the first axis of rotation X.sub.1 and the third axis of
rotation X.sub.3 intersect the second axis of rotation X.sub.2 at
distinct points.
[0205] When the arm of the user is at rest (that is when the arm
extends along the body of the user in the standing position), the
second axis of rotation X.sub.2 of the fourth pivot 37 is parallel
to the axis of rotation of the second pivot 33. In addition, the
third axis of rotation X.sub.3 is perpendicular to the first axis
of rotation X.sub.1 of the third pivot 35, and to the second axis
of rotation X.sub.2 of the fourth pivot 37.
[0206] As illustrated in FIG. 17, the third connecting part 38
comprises two parts 381 and 382 mounted sliding with respect to one
another by means of a first slideway 383. The sliding of the parts
381 and 382 with respect to one another allows shortening or
lengthening of the third connecting part 38 during abduction or
adduction movements of the shoulder of the user. The first slideway
383 comprises a first elastic return element 384 tending to oppose
the separation of the parts 381 and 382 with respect to one
another, and therefore a lengthening of the third connecting part
38. The first elastic return element 384 is therefore a tension
spring.
[0207] As illustrated in FIG. 18, the fourth connecting part 310
comprises two parts 3101 and 3102 mounted sliding one with respect
to the other by means of a second slideway 3103. The sliding of
parts 3101 and 3102 with respect to one another allows shortening
and lengthening of the fourth connecting part 310 during rotation
of the forearm of the user with respect to the arm causing a
flexure or an extension of the elbow. The second slideway 3103
comprises a second elastic return element 3104 tending to oppose
the separation of the parts 3101 and 3102 with respect to one
another, and therefore an extension of the fourth connecting part
310. The second elastic return element 3104 is a tension
spring.
[0208] As the axes of rotation X.sub.1, X.sub.2 and X.sub.3 of the
shoulder module 3 do not coincide with the real axes of rotation of
the joint complex of the shoulder of the user, the two slideways
383 and 3103 allow the length of the third connecting part 38 and
the length of the fourth connecting part 310 to vary so as to
compensate the offset of the axes of revolution.
[0209] The fourth connecting part 310 is connected to the elbow
joint 42 of the elbow module by means of an attachment device
10.
Device for Attaching the Shoulder Module to the Elbow Module
[0210] The exoskeleton structure comprises two attachment devices
10, each attachment device 10 allowing attachment of a shoulder
module 3 to an elbow module 4.
[0211] FIG. 19 shows schematically the attachment device 10. In the
embodiment illustrated in this figure, the attachment device 10 is
a so-called "bayonet type" attachment device, similar to the device
8 for attaching the hip module 5 to the base module 1 illustrated
in FIGS. 9, 10A and 10B.
[0212] The attachment device 10 is capable of passing from an
unlocked configuration in which the shoulder module 3 is detached
from the elbow module 4, to a locked configuration in which the
shoulder module 3 is attached to the elbow module 4.
[0213] The attachment device 10 comprises a first part 101 mounted
fixedly on the elbow module 4 and a second part 102 mounted movable
in rotation on the shoulder module 3.
[0214] More precisely, the first part 101 is attached to the stator
of the actuator of the elbow joint 42. The second part 102 is
mounted in rotation on the fourth connecting part 310 of the
shoulder module 3 around an axis X parallel to the direction of
insertion of the second part 102 into the first part 101.
[0215] The second part 102 is capable of being snapped into the
first part 101, so as to allow the reversible attachment of the
shoulder module 3 to the elbow module 4.
[0216] The first part 101 and the second part 102 are identical to
the first part 81 and the second part 82 of the device 8 for
attaching the hip module 5 to the base module 1. The attachment
device 10 also comprises an elastic return element 103, in the form
of a spring, capable of loading the second part 102 in a direction
opposite to the direction of insertion of the first part 102 into
the first part 101.
[0217] Moreover, the first part 101 and the second part 102 each
comprise electrical contacts capable of electrically connecting the
first battery 12 and the control unit 13 of the base module 1 to
the actuator of the elbow joint 42 when the second part 102 is in
the locked configuration in the first part 101.
Backpack Support Module
[0218] As illustrated in FIGS. 20 and 21, the backpack support
module 14 comprises a hoop 141 and a support rod 142.
[0219] The hoop 141 is designed to be connected to the base module
1. The hoop has two opposite ends 143.
[0220] The backpack support module 14 also comprises two ball
joints 145 and two attachment devices 16 allowing the hoop to be
connected to the hip modules 5.
[0221] In this manner, the weight of the backpack is transferred to
the lower modules, namely the hip modules 5, the knee modules 6 and
the foot modules 7, which allows the user to lighten the load
applied to the back.
[0222] The support rod 142 is designed to extend along the back of
the user, parallel to the spinal column of the user. The rod 142 is
capable of being engaged in a pouch 171 of a backpack 17 to suspend
the backpack 17 from the backpack support module 14.
[0223] The rod 142 comprises a first rod element 1421, a second rod
element 1422 and a damper 1423.
[0224] The first rod element 1421 is connected to the hoop 141 by a
pivot 144 allowing rotation of the rod 142 with respect to the hoop
141 around an antero-posterior axis of the user. The pivot 144
allows the backpack support module to adapt to the movements of the
hip of the user during walking or running.
[0225] The second rod element 1422 is capable of sliding with
respect to the first rod element 1421 so as to vary a length of the
rod 142.
[0226] The first rod element 1421 and the second rod element 1422
can be formed from a synthetic material (for example a composite
material based on epoxy polymer) reinforced with carbon fibers.
Moreover, the second rod element 1422 can comprise an end portion
formed from metal.
[0227] The second rod element 1422 can be telescoping, so as to
allow adjustment of the length of the rod 142.
[0228] The damper 1423 is adapted to cushion the movement of the
second rod element 1422 with respect to the first rod element 1421
caused by the walking of the user.
[0229] The damper 1423 thus allows a reduction in the jolts caused
by movements of the backpack 17 on the exoskeleton structure when
the user walks, runs or jumps.
[0230] To this end, the damper 1423 comprises a cylinder 1424
attached to the first rod element 1421, a piston 1425 attached to
the second rod element 1422 and capable of sliding inside the
cylinder 1424, and an elastic element 1426 arranged between the
first rod element 1421 and the second rod element 1422.
[0231] The piston 1425 delimits in the interior of the cylinder
1424 two chambers, 1427 and 1428, containing a fluid, the sliding
of the piston 1425 inside the cylinder 1424 causing compression of
the fluid contained in one of the chambers 1427, and transfer of
the fluid to the other chamber 1428.
[0232] The elastic element 1426 preferably has a stiffness greater
than or equal to 2000 Newtons per meter. Such stiffness allows the
elimination of backpack oscillation amplification phenomena which
could occur in the event that the mass-spring system formed by the
backpack 17 and the elastic element 1426 comes into resonance
during walking or running of the user.
[0233] Moreover, the damper 1423 can have an adjustable damping
ratio, which allows the damping to be adapted to the mass of the
backpack. In fact, the mass of the backpack can vary depending on
the type of mission carried out by the user. The adjustment of the
damping ratio can be obtained by modifying the total volume of
chambers 1427 and 1428 (by means of a screw, for example) so as to
adjust a damping ratio of the damper.
[0234] The backpack support module 14 also comprises a protective
bellows seal 1429 connecting the first rod element 1421 to the
second rod element 1422. The protective bellows seal 1429 allows a
lengthening of the rod 142 while still preventing the penetration
of liquid or debris inside the rod 142 and the damper 1423.
[0235] Moreover, the backpack support module 14 can comprises a
force sensor to evaluate the mass of the bag 17 that is carried.
The force sensor can be a compression strain-gage force sensor. The
sensor can be disposed in the lower portion of the rod 142 above
the damper 1423.
Device for Attaching the Backpack Support Module to the Hip
Module
[0236] FIG. 22 shows schematically an attachment device 16 allowing
one end 143 of the hoop 141 to be connected to the hip modules
5.
[0237] In the embodiment illustrated in this figure, the attachment
device 16 is a so-called "bayonet type" attachment device, similar
to the device 8 for attaching the hip module 5 to the base module
1, illustrated in FIGS. 9, 10A and 10B.
[0238] The attachment device 16 is capable of passing from an
unlocked configuration in which the backpack module 14 is detached
from the hip module 5, to a locked configuration in which the
backpack module 14 is attached to the hip module 5.
[0239] The attachment device 16 comprises a first part 161 mounted
fixedly on the hip module 5, and a second part 162 mounted movable
in rotation and in translation on the backpack support module
14.
[0240] More precisely, the first part 161 is attached to the stator
522 of the actuator 521 of the hip joint 52. The second part 102 is
mounted in rotation on the hoop 141 by means of the ball joint 145.
The second part 162 is also mounted sliding with respect to the
ball joint 145 along the axis X.
[0241] The second part 162 is capable of being snapped into the
first part 161, so as to reversibly attach the backpack support
module 14 to the hip module 5 and consequently to the base module
1.
[0242] The first part 161 and the second part 162 are identical to
the first part 81 and the second part 82 of the device 8 for
attaching the hip module 5 to the base module 1. The attachment
device 16 also comprises an elastic return element 163, in the form
of a spring, capable of loading the second part 162 in one
direction, opposite to the insertion direction of the second part
162 into the first part 161.
[0243] In this manner, the hoop 141 is anchored at each of its ends
143 to the hip joints 52 of the hip modules 5. The weight of the
backpack 17 is thus transferred to the ground by means of the lower
modules, namely the hip modules 5, the knee modules 6 and the foot
modules 7.
* * * * *