Abstract: Method for controlling an electric actuation assembly (1), the method comprising the following steps: applying a plurality of known first output forces and recording a plurality of first input intensities for a first movement direction of the output; establishing, by interpolation, a first characteristic function; applying a plurality of second known output torques and recording (2) a plurality of second input currents for a second movement direction of the output opposite to the first direction; establishing, by interpolation, a second characteristic function; establishing, on the basis of the first characteristic function, the second characteristic function, a magnetic constant of the motor (11) and a reduction ratio of a gearbox (12), and a control correction coefficient; controlling the actuation assembly (1) by applying the control correction coefficient.

Abstract: An actuator having a nut (4) co-operating with a screw (2); a first cable (6) coupled to the nut and functionally connected to an output (16, 17, 22.4) of the actuator (100); and a motor (3) arranged to drive the screw (2) in rotation. The actuator also has a mechanism (92) for comparing the actual position of the nut relative to the frame (10) with a theoretical position for the nut relative to the frame (10) in order to obtain a position deviation (?ang4, ?lin4) of the nut; and a mechanism (93) for determining a force applied to the output (22.4) of the cable actuator (100) as a function of the position deviation of the nut. Also disclosed is a method of measuring a force applied to an output (16, 17, 24.1) of an actuator (100), and to a method of determining prior loading (t6,9) of a cable actuator (100).

Abstract: A cable actuator (100) comprising: a frame (10); a screw (2) rotatably mounted on the frame (10) and extending along a first axis (Ox); a nut (4) cooperating with the screw (2); means (30) for estimating the angular movement of the nut (4) about the first axis (Lx) relative to the frame (10); and a distance sensor (30) secured to the frame (10) and having a winder (33) for winding a thread (32), one end (32.1) of the thread (32) connected to the nut (4) at a connection point (4.1); wherein the distance sensor (30) is arranged in such a manner that the thread (32) changes curvature at a first point (34) situated in a first plane (P1) orthogonal to the first axis (Ox).

Abstract: A method for controlling an ambulatory exoskeleton (1) linked to a user (100), comprising the following steps: —measuring only the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) under each foot (123, 133) of the user (1); —controlling actuators (40, 41, 42, 43) such that the vertical component (ZEd, ZEg) of the resultant of the balancing forces (REg, REd) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) measured under the corresponding foot (123, 133) of the user (100).

Abstract: A cable cylinder (100) comprising a frame (1);—a pin (2) mounted on the frame and extending along a first axis (Oy);—a nut (4) engaging with the pin (2);—a first cable (10) coupled to the nut or the pin (2) and intended to be functionally connected to an element to be moved;—a motor (3) designed to rotate the pin (2) or the nut (4); characterised in that the first cable (6) comprises at least a first section (6.1) extending substantially parallel to the first axis (Ox), and the first cable (6) is designed to exert opposing forces on rotation of the nut (4) by the pin (2) or of the pin (2) by the nut (4) in order to constitute anti-rotation means so that a rotation of the pin (2) or of the bolt (4) under the action of the motor (3) causes a relative movement of the nut (4) and of the pin (2).

Abstract: A lower member (1) of an ambulatory exoskeleton (2), the lower member having at least a body segment (10) having at least one first leg segment (20) hinged thereto (Ps). The lower member (1) of the exoskeleton (2) including a first hinge blocker having a first element (51) provided with functionally connecting it to turn with the first leg segment (20); a first skid (30); and a first actuator (33) capable of acting selectively to adopt a free first state in which the first element (51) is free to turn both in a first direction (S1) and in a second direction opposite to the first direction, and a blocking second state in which turning of the first element (51) in the first direction is blocked by the first element (51) jamming against the first skid (30).

Abstract: An actuator (100) comprising: a frame (20); a screw (2) mounted on the frame; a nut (4) co-operating with the screw (2); a motor (3) arranged to drive the screw (2) in rotation; a first cable strand (6.1) and a second cable strand (9.1) coupled to the nut (4) and extending on a first side (8.1) of a first plane (P1); a third cable strand (6.4) and a fourth cable strand (9.4) coupled to the nut (4) and extending on a second side (8.2) of the first plane (P1); the first cable strand (6.1) and the second cable strand (9.1) extending in a second plane (P2); the third cable strand (6.4) and the fourth cable strand (9.4) extending in a third plane (P3); and the second plane (P2) and the third plane (P3) being distinct.

Abstract: An actuator (100) comprising: a frame (20); a screw (2) mounted on the frame; a nut (4) co-operating with the screw (2); a motor (3) arranged to drive the screw (2) in rotation; a first cable strand (6.1) and a second cable strand (9.1) coupled to the nut (4) and extending on a first side (8.1) of a first plane (P1); a third cable strand (6.4) and a fourth cable strand (9.4) coupled to the nut (4) and extending on a second side (8.2) of the first plane (P1); the first cable strand (6.1) and the second cable strand (9.1) extending in a second plane (P2); the third cable strand (6.4) and the fourth cable strand (9.4) extending in a third plane (P3); and the second plane (P2) and the third plane (P3) being distinct.

Abstract: An actuator having a nut (4) co-operating with a screw (2); a first cable (6) coupled to the nut and functionally connected to an output (16, 17, 22.4) of the actuator (100); and a motor (3) arranged to drive the screw (2) in rotation. The actuator also has a mechanism (92) for comparing the actual position of the nut relative to the frame (10) with a theoretical position for the nut relative to the frame (10) in order to obtain a position deviation (?ang4, ?lin4) of the nut; and a mechanism (93) for determining a force applied to the output (22.4) of the cable actuator (100) as a function of the position deviation of the nut. Also disclosed is a method of measuring a force applied to an output (16, 17, 24.1) of an actuator (100), and to a method of determining prior loading (t6, 9) of a cable actuator (100).

Abstract: A lower limb of an exoskeleton or a bipedal robot, having a thigh segment (1), a leg segment (3) and a foot (4). The leg segment includes two connecting rods (3a, 3b) having proximal ends that are articulated along parallel axes on the thigh segment, the two connecting rods having distal ends articulated along parallel axes on the foot.

Abstract: A cable cylinder (100) comprising a frame (1);—a pin (2) mounted on the frame and extending along a first axis (Oy);—a nut (4) engaging with the pin (2);—a first cable (10) coupled to the nut or the pin (2) and intended to be functionally connected to an element to be moved;—a motor (3) designed to rotate the pin (2) or the nut (4); characterised in that the first cable (6) comprises at least a first section (6.1) extending substantially parallel to the first axis (Ox), and the first cable (6) is designed to exert opposing forces on rotation of the nut (4) by the pin (2) or of the pin (2) by the nut (4) in order to constitute anti-rotation means so that a rotation of the pin (2) or of the bolt (4) under the action of the motor (3) causes a relative movement of the nut (4) and of the pin (2).

Abstract: The invention relates to a portable device (1) for amplifying an axial force applied to a tool, which includes: means (100) for linking the device to a user; means (2) for guiding the tool (4) it translation along a longitudinal axis (X); means for actuating the tool, including a drum (5) provided with a motor (6) and a rope (7) rigidly connected to the tool (4) and forming at least one turn (8) around the drum (5); and means for controlling the actuating means in order to apply a force to the tool in response to a force provided by the user via a control member. The means (100) for linking the device to the user and the means (2) for guiding the tool (4) in translation allow the tool (4) to rotate freely about the longitudinal axis (X) and about at least one axis (Z, Y) extending in a plane (P) which is normal to the longitudinal axis (X).

Abstract: A method for controlling an ambulatory exoskeleton (1) linked to a user (100), comprising the following steps: —measuring only the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) under each foot (123, 133) of the user (1); —controlling actuators (40, 41, 42, 43) such that the vertical component (ZEd, ZEg) of the resultant of the balancing forces (REg, REd) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) measured under the corresponding foot (123, 133) of the user (100).

Abstract: A cable actuator comprising a chassis (1), a screw (2) mounted rotatably on the chassis and driven by an electric motor, a nut (4) engaging with the screw and associated with anti-rotation means such that a rotation of the screw, under the action of the motor, results in an axial movement of the nut, and two substantially parallel cables (10) coupled to the nut on either side of same. The cables are linked to an anchoring member (20; 30; 40) that is interposed between the nut and the cables, the anchoring member being secured to the nut while also being movable relative to same.

Abstract: A cable actuator comprising a chassis (1), a screw (2) rotatably mounted on the chassis and driven by an electric motor, a nut (4) that engages with the screw and is combined with anti-rotation means such that rotation of the screw under the action of the motor causes an axial displacement of the nut, two cables (10) coupled to the nut on either side of same, the two cables being wound onto respective joint pulleys (11) each rigidly connected to a same joint shaft (12) and in which the joint pulleys have a helical groove, the helical grooves of the pulleys extending in opposing directions.

Abstract: The invention relates to a portable device (1) for amplifying an axial force applied to a tool, which includes: means (100) for linking the device to a user; means (2) for guiding the tool (4) it translation along a longitudinal axis (X); means for actuating the tool, including a drain (5) provided with a motor (6) and a rope (7) rigidly connected to the tool (4) and forming at least one turn (8) around the drum (5); and means for controlling the actuating means in order to apply a force to the tool in response to a force provided by the user via a control member. The means (100) for linking, tile device to the user and the means (2) for guiding the tool (4) in translation allow the tool (4) to rotate freely about the longitudinal axis (X) and about at least one axis (Z, Y) extending in a plane (P) which is normal to the longitudinal axis (X).

Abstract: A lower exoskeleton for a user including a pelvic element (1) with a mechanism for securing to an upper part of the user's body; two lower supports (2) with a mechanism for securing to the user's lower limbs and which rest on the ground during stance phases, each of the supports having a thigh segment and a tibia segment connected by a knee link to allow flexion and extension; and hip links for connecting the two lower supports to the pelvic element. The pelvic element has a an inner segment (30) extending symmetrically in relation to a central sagittal plane; and two outer segments (33) extending symmetrically and connected to respective distal ends of the inner segment by linking members (31, 32, 34; 31?), allowing flexion between the inner segment and each outer segment along two orthogonal axes.

Abstract: Load manipulating device (1) including a load manipulator (10) including at least two segments (13, 18) articulated with respect to each other, comprising a boom segment (13) that is similarly articulated on a frame (12) and a balance segment (18) which comprises an end intended to receive a load (20) to be manipulated, the load manipulating device (1) including balancing means (41, 23, 24) such that the load manipulator (10) is stable in any position, whether or not bearing the load, and guidance means (50, 60, 70) distinct from the balancing means for constraining the position of the load manipulator (10).

Abstract: The invention relates to a shoulder mechanism for an orthosis comprising in succession: a first element (1) that is stationary relative to the user; a second element (2) that is hinged to the first element about a first hinge axis (A1); a third element (3) that is hinged to the second element about a second hinge axis (A2); and an upper arm (4) that is hinged to the third element about a third hinge axis (A3). According to the invention, the hinge axes (A1, A2, A3) extend in directions that define a frame of reference that is non-orthogonal.

Abstract: The invention relates to a cable cylinder comprising a pin and nut device (2, 3), one of the elements of which is rotated about an axis of rotation (X) by a motor (10) and the other element is made to slide without rotating about the axis of rotation owing to an anti-rotation device, the sliding element being coupled to a cable (6) wrapped around a drive pulley (7) such that rotating the motor causes the linear movement of the sliding element, said sliding element pulling on the cable and thus rotating the drive pulley. The anti-rotation device comprises at least one elongate element (10) which is flexible but rigid when twisted, one end (11) of which is attached to the sliding element and a second end (12) of which is attached to a stationary portion of the cylinder, such that the elongate element is substantially curved in a plane parallel to the axis of rotation.