Lower limb of an exoskeleton with low power consumption

Patent metadata

Field	Value
Publication number	US-11872180-B2
Application number	US-201816645274-A
Country	US
Kind code	B2
Filing date	Sep 19, 2018
Priority date	Sep 25, 2017
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

A lower limb ( 1 ) of an ambulatory exoskeleton comprising at least a pelvis segment ( 10 ). a leg segment ( 20 ) and a foot segment ( 30 ), the leg segment ( 20 ) being hinged at the First end ( 21 ) of same to the pelvis segment ( 10 ) and at the second end ( 24 ) of same to the foot segment ( 30 ). the leg segment ( 20 ) comprising a spring element ( 25 ) and means ( 40. 44 ) for varying the distance (d) separating the ends ( 21. 24 ) of the leg segment ( 20 ), the means ( 40. 44 ) for varying the distance (d) separating the ends ( 21. 24 ) of the leg segment ( 20 ) being carried by the pelvis segment ( 10 ).

First claim

The invention claimed is:

1. A lower limb ( 1 ) of an ambulatory exoskeleton, wherein the lower limb comprises:
a pelvis segment,
a leg segment, and
a foot segment;
wherein the leg segment is articulated at its first end at the pelvis segment and at its second end at the foot segment, and
wherein the leg segment comprises a spring element for exerting a force that opposes a movement of the ends of the leg segment toward each other, and means for varying the distance (d) separating the first end and the second end of the leg segment in order to apply a force counter to that of the spring element,
wherein, when the means for varying the distance shortens the distance, the force that opposed the movement of the ends of the leg segment toward each other increased, and wherein the means for varying the distance (d) is located on the pelvis segment, and
wherein the means for varying the distance (d) comprise a device for pretensioning the spring element.

2. The lower limb of an ambulatory exoskeleton as claimed in claim 1 , in which the means for varying the distance (d) comprise a cable.

3. The lower limb of an ambulatory exoskeleton as claimed in claim 2 , in which the cable is coupled to a point of articulation of the leg segment on the foot segment, or on a point of the leg segment.

4. The lower limb of an ambulatory exoskeleton as claimed in claim 2 , in which the cable extends between the pelvis segment and the foot segment.

5. The lower limb of an ambulatory exoskeleton as claimed in claim 2 , in which the means for varying the distance (d) comprise a geared motor and a winding pulley for winding and unwinding the cable.

6. The lower limb of an ambulatory exoskeleton as claimed in claim 2 , comprising a slackness sensor configured to measure slack in the cable.

7. The lower limb of an ambulatory exoskeleton as claimed in claim 1 , in which the means for varying the distance (d) comprise a first carriage sliding relative to the pelvis segment.

8. The lower limb of an ambulatory exoskeleton as claimed in claim 7 , comprising an actuator for moving the first carriage relative to the pelvis segment.

9. The lower limb of an ambulatory exoskeleton as claimed in claim 1 , in which the means for varying the distance (d) are controlled by a foot position sensor rigidly connected to the foot segment.

10. The lower limb of an ambulatory exoskeleton as claimed in claim 9 , in which the foot position sensor comprises a potentiometer functionally connected to the leg segment.

11. The lower limb of an ambulatory exoskeleton as claimed in claim 1 , in which the spring element is a leaf spring.

12. The lower limb of an ambulatory exoskeleton as claimed in claim 11 , in which the leaf spring is positioned behind the leg of a user wearing the exoskeleton.

13. The lower limb of an ambulatory exoskeleton as claimed in claim 11 , in which the leaf spring is positioned in front of the leg of a user wearing the exoskeleton.

14. The lower limb of an ambulatory exoskeleton as claimed in claim 1 , comprising a crouch sensor.

15. The lower limb of an ambulatory exoskeleton as claimed in claim 1 , in which the foot segment comprises a shoe sole intended to receive the foot of a user.

Assignees

• Commissariat A L Energie Atomique Et Aux Energies Alternatives
• Commissariat Energie Atomique

Inventors

• Geffard Franck
• Ponsort Dominique

Classifications

• A61H3/00 Primary

  Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) · CPC title

• A61H1/0262

  Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence) · CPC title

• B25J9/0006

  Exoskeletons, i.e. resembling a human figure · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• A61H2201/0192

  Specific means for adjusting dimensions · CPC title