Safran Electronics & Defense

B-temia Inc.

Roland Thieffry

Jordane Grenier

Jonathan Baptista

Alexandre Vaure

Stephane Bedard

Hugo Attal

Stéphane Bedard

A modular exoskeleton structure provides force assistance to a user. The structure includes a base module including a lumbar belt capable of surrounding the waist of the user, a battery and a control unit attached to the lumber belt, 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, and a third attachment part attached to the belt and capable of cooperating with a complementary fourth attachment part of a back module for attaching the back module to the base module.

Modular exoskeleton structure that provides force assistance to the user

The invention relates to a modular exoskeleton structure that provides force assistance to a user, comprising a base module () comprising a lumbar belt () capable of surrounding the lower trunk of the user, two hip modules capable of being attached to two respective thighs of the user, and a backpack support module () for an exoskeleton structure, comprising:

Backpack support module for a modular exoskeleton structure

A method of assisting at least one movement of a user by means of a robotic device, the method enabling the robotic device to be caused to operate in at least the following two modes: default mode: force servocontrol of the robotic device via a computer of the robotic device; and measurement mode: path servocontrol of the robotic device, via the computer, with the computer storing at least one force exerted on the robotic device by an environment external to the robotic device in order to perform the force servocontrol of the default mode.

Method for assisting at least one movement of a user and corresponding device

The invention relates to a back module () for an exoskeleton structure, comprising a spinal column segment () 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 () holds 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 movement of the vertebral elements () with respect to one another, while exerting a return force tending to return the spinal column segment () the stable equilibrium position.

Back module for an exoskeleton structure

The invention relates to a foot module () for an exoskeleton structure, comprising an ankle joint (), a first support plate () designed to be supported on the top of a boot of the user, when the foot module () is attached to the foot of the user, a second support plate () capable of being disposed under the sole of the boot, a first segment () connecting the ankle joint () to the first support plate () and a second segment () connecting the first support plate () to the second support plate (), the first segment () and the second segment () forming a spring capable of being compressed when the boot is in contact with the ground (S) and being expanded when the boot is not in contact with the ground (S).

Foot portion for an exoskeleton structure

The invention relates to an exoskeleton structure that provides force assistance to a user, comprising:

Exoskeleton structure that provides force assistance to the user

A shoulder module () for an exoskeleton structure that connects to an elbow module () attached to an arm of a user to a back module () attached to the back of the user. The shoulder module () has a plurality of connecting parts (), and a first pivot () connecting two of the connecting parts () while allowing rotation of one of the connecting parts with respect to the other connecting part () according to a first axis of rotation (X), during a rotation of the elbow module () with respect to the back module () corresponding to an abduction or adduction movement of the shoulder of the user. The connecting parts () include a connecting part () comprising two parts () that slide to allow shortening or lengthening of the connecting part () of the elbow module ().

Shoulder module for an exoskeleton structure

A method of controlling a motor-driven aiming device, the method including the steps of servo-controlling the motor as a function of a difference between a nominal speed setpoint and a measurement of the angular speed sensor, and in the event of saturation, determining a correction value for correcting the nominal speed setpoint as a function of a difference between a reference inertial position prior to the saturation and a current inertial position, and applying the correction value to the nominal speed setpoint. An aiming device for implementing the method.

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Boulogne-Billancourt, France

Roland Thieffry