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1. WO2020193571 - DEVICE FOR CONTROLLING A ROBOTIC SYSTEM FOR ASSISTING THE MOBILITY OF A USER

Publication Number WO/2020/193571
Publication Date 01.10.2020
International Application No. PCT/EP2020/058203
International Filing Date 24.03.2020
IPC
A61H 3/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
3Appliances for aiding patients or disabled persons to walk about
A61H 1/02 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
1Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones 
02Stretching or bending apparatus for exercising
CPC
A61H 1/0277
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
1Apparatus for passive exercising
02Stretching or bending ; or torsioning; apparatus for exercising
0274for the upper limbs
0277Elbow
A61H 2201/1215
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
2201Characteristics of apparatus not provided for in the preceding codes
12Driving means
1207with electric or magnetic drive
1215Rotary drive
A61H 2201/149
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
2201Characteristics of apparatus not provided for in the preceding codes
14Special force transmission means, i.e. between the driving means and the interface with the user
1481Special movement conversion means
149rotation-linear or vice versa
A61H 2201/1619
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
2201Characteristics of apparatus not provided for in the preceding codes
16Physical interface with patient
1602kind of interface, e.g. head rest, knee support or lumbar support
1619Thorax
A61H 2201/1635
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
2201Characteristics of apparatus not provided for in the preceding codes
16Physical interface with patient
1602kind of interface, e.g. head rest, knee support or lumbar support
1635Hand or arm, e.g. handle
A61H 2201/165
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
2201Characteristics of apparatus not provided for in the preceding codes
16Physical interface with patient
1602kind of interface, e.g. head rest, knee support or lumbar support
165Wearable interfaces
Applicants
  • CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE [FR]/[FR]
  • INSERM - INSTITUT NATIONAL DE LA SANTÉ ET DE LA RECHERCHE MÉDICALE [FR]/[FR]
  • SORBONNE UNIVERSITÉ [FR]/[FR]
Inventors
  • JARRASSÉ, Nathanaël
  • LEGRAND, Mathilde
  • MOREL, Guillaume
Agents
  • NOVAGRAAF TECHNOLOGIES
Priority Data
FR190310325.03.2019FR
Publication Language French (FR)
Filing Language French (FR)
Designated States
Title
(EN) DEVICE FOR CONTROLLING A ROBOTIC SYSTEM FOR ASSISTING THE MOBILITY OF A USER
(FR) DISPOSITIF DE COMMANDE D'UN SYSTÈME ROBOTIQUE D'ASSISTANCE À LA MOBILITÉ D'UN UTILISATEUR
Abstract
(EN)
The present invention concerns a device (2) for controlling a robotic system for assisting the mobility of a user, the robotic system comprising at least one active mobility assistance element (3) capable of assisting a given mobility action of the user, characterised in that the device (2) comprises a detection system capable of detecting a compensatory movement of the user (1) associated with the mobility action, the compensatory movement being a movement made by a user who is disabled, or able-bodied but locally and/or temporarily constrained, in order to perform at least part of the mobility action, and which at least partially substitutes the normal movement an unconstrained, able-bodied user would make in order to perform this mobility action, and a control system capable of controlling the at least one active element (3) when the compensatory movement is detected.
(FR)
La présente invention a pour objet un dispositif (2) de commande d'un système robotique d'assistance à la mobilité d'un utilisateur, ledit système robotique comprenant au moins un élément actif d'assistance à la mobilité (3) apte à assister une action de mobilité donnée de l'utilisateur, caractérisé en ce que le dispositif (2) comprend un système de détection apte à détecter un mouvement compensatoire de l'utilisateur (1) associé à ladite action de mobilité, ledit mouvement compensatoire étant un mouvement que réalise un utilisateur non valide, ou valide mais localement et/ou temporairement contraint, pour effectuer au moins une partie de l'action de mobilité, et qui se substitue au moins en partie au mouvement normal que réaliserait un utilisateur valide non contraint pour réaliser cette action de mobilité, et un système de commande apte à commander ledit au moins un élément actif (3) lorsque ledit mouvement compensatoire est détecté.
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