Patent Publication Number: US-2022212338-A1

Title: Non-motorized physical-assistance device of exoskeleton type for manually transporting loads

Description:
TECHNICAL FIELD OF THE INVENTION 
     The present invention relates to a non-robotic/non-motorized physical-assistance device of exoskeleton type for the manual transport of loads. It applies, in particular to the transport of packages by order preparers in handling warehouses. 
     BACKGROUND OF THE INVENTION 
     Operators working in handling warehouses are subjected to substantial constraints and to working conditions that are sometimes difficult because they lift and transport all throughout the day loads that are more or less heavy, over more or less great distances, making movements that are more or less ergonomic and adapted to their morphology. 
     Many assistance devices have been created for several decades to improve these working conditions and lightens the load on the user during operations when they lift, transport and set down the lifted load. Among these devices are an entire series of exoskeletons that use various mechanical means, or robotic means that in particular make us of cylinders. 
     These physical-assistance devices or these physical-assistance robots are described in particular in patents FR3046038A1, FR3046052A1, FR3065387A1, FR2993811A1 or EP3189945B1. Simpler systems such as CORFOR® also allow for assistance by using elastic straps connecting the shoulders below the knees and the calves. 
     All these devices have different disadvantages among which the high weight, the lack of ergonomics and the low adaptability to the morphology of the users, the complex and fragile design, the low autonomy (for motorized systems and/or with assistance by cylinders), the hardly practical use (time needs to equip oneself), the lack of fluidity and of freedom of movement, the transfer of the weight of the package onto the shoulders and the back, the compression of the rib cage, the low efficiency and the high cost. 
     OBJECT AND SUMMARY OF THE INVENTION 
     The present invention aims to overcome these disadvantages with an entirely innovative approach. 
     To this effect, according to a first aspect, the present invention relates to a non-motorized physical-assistance device of exoskeleton type, designed to be worn by a user in order, in use, to lighten the load on the upper limbs of said user manually lifting and transporting a load, said device comprising in particular a hip belt able to pass around the waist/hips of the user and load lifting/transporting assistance means, the device being worn by the user and being in use, the load lifting/transporting assistance means comprise a member for transferring, exclusively to the hip belt, vertical loads brought about by the load lifted/transported by the user, relieving the load on the back, the upper limbs, the shoulders and the neck of said user latter, characterized in that the member for transferring loads is constituted by a rigid dorsal support comprising a single central column being divided into two lateral branches passing over the shoulders of the user, without contact with the latter or the arms of the latter, and in that said lateral branches are erected perpendicularly to the central column and are projected forward on either side of the neck of the user. 
     This solution allows a user wearing the assistance device in accordance with the present invention, which is devoid of motorized or robotic means such as cylinders, to lift and transport with their hands loads of several kilograms, even several tens of kilograms, by feeling only an extremely low weight on the back and the upper limbs thanks to the transfer of the latter onto their hips and son pelvis, much more adapted for this. 
     Thus, not only is the assistance not carried out via a heavy robotic/motorized device, that is large and/or complex to manufacture and operate, but the load lifted appears light without the weight of the latter being supported by the shoulders or the back of the user. 
     Contrary to the existing solutions, this device makes it possible to assist with the carrying of a load in an industrial environment by reducing the forces generated by the weight of the package at the upper limbs and at the back. However, these forces are the cause of 50% of work stoppages. This device thus makes it possible to maintain the level of productivity while still preventing the appearance of MSD. 
     Finally, using a single central column substantially aligned with the vertebral column of the user and being divided into two lateral branches each one passing over its shoulders makes it possible to have natural and fluid movements without risking being hindered by the device, in particular at the neck, head and arms. 
     Providing a structure with the lateral branches that does not extend (or extremely little) in front of the body (shoulders, torso) of the user makes it possible to obtain a very light device, of very small size and very well balanced (right/left and front/rear). 
     Also note that the device is not in contact/does not support the humerus and/or the elbows and/or the forearms of the user, which here again allows for very great mobility and flexibility in use and prevents discomfort in use and/or pain. 
     The invention is implemented according to the embodiments and the alternatives disclosed hereinafter, which are to be considered individually or according to any technically permissible combination:
         the two lateral branches are vertically separated from the shoulders of the user by a distance comprised between about 2 and 20 centimeters, preferably between substantially 5 and 15 centimeters, which on the one hand allows the user to lift their arms rather high without coming into contact with the branches, and which on the other hand prevents any transfer of the load on their shoulders or their neck thanks to the separation of said branches;   the lateral branches are adjustable in height and/or in rotation with respect to the central column, which makes it possible to adapt to different morphologies or methods of use;   the central column is adjustable in height at least at an upper portion in such a way as to adapt to different user sizes and improves comfort of use;   the member for transferring loads further includes manually extendible/retractable streamlined means to change the length of it, said streamlined means being disposed at least along the lateral branches of the column, which allows the user to manipulate the load carried as best as possible and manage the lifting/transporting assistance of the latter;   the streamlined means are wires, cables, cords or straps, which forms a light solution that is easy to design and to use;   the lateral branches of the member for transferring loads are constituted of hollow tubes and are passed through at least partially by the streamlined means, which allows for perfect integration of all the means implemented (masking of the streamlined means) in order to make the device compact, light and practical to use;   the streamlined means each pass through a guide provided with means for reducing friction, which guarantees fluid and effective movements during the lifting and the transporting of loads, and a reduction in the wear of the means used for this effect;   the means for reducing friction are constituted by an internal coating made of polytetrafluoroethylene (PTFE), such as TEFLON®, locally covering the inside of the hollow tubes of the lateral branches;   each streamlined means is connected to a winder/unwinder engaged with the central column and allowing, in use, said streamlined means to elongate/retract itself automatically in order to change length, which allows for an optimization of the load lifting and transporting operations according to the morphology (arm) of the user because the streamlined means fluidly and rapidly constantly accompany their own movements of the hands/arms/shoulders;   the streamlined means are each provided, at a free end, with a manual gripping means of the sleeve type, in such a way that the hands of the user are constantly connected to said streamlined means during the use of the device;   the device is provided, close to at least one of the handles, with a manual brake disengageable by the user to block/unblock the length of said streamlined means, which facilitates the load lifting and transporting operations because the operator very simply and intuitively controls the assistance provided by the device by blocking the streamlined means when they desire to do so;   the central column includes a hinge pin in a zone close to the connection with the hip belt in order to follow the inclination of the back of the user with respect to its lower limbs, which allows the user great freedom of movement, in particular to lift/set down loads that are positioned relatively low;   an elastic return element connects the hip belt to a lower portion of the central column, which procures additional assistance to the user, in particular when the latter has to pass from a position curved towards the front to a straight position;   the central column is provided with at least a back cushion, which improves the comfort of use of the device;   the device also includes shoulder straps for the transport thereof by the user, which allows for a good maintaining of the device on the back of the user when the latter is using it for their handling operations; and   the device further includes extendible elastic means connecting the hip belt to the knees of the user, this in order in particular to assist them when they pass from a squat position to a standing position.       

    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Other advantages, purposes and characteristics of the present invention shall appear in the following description given, for the purposes of explanation and in no way limiting, with respect to the accompanying drawings, wherein: 
         FIG. 1  is a perspective isometric rear view of a device in accordance with the present invention worn by a user, 
         FIG. 2  is a perspective isometric front view of the device of  FIG. 1 ; 
         FIG. 3  is a front view of  FIG. 2 ; 
         FIG. 4  is a back view of  FIG. 2 ; 
         FIG. 5  is a top view of  FIG. 2 ; 
         FIG. 6  is a side view of  FIG. 2 ; 
         FIG. 7  is a detailed view of a top portion of  FIGS. 2 to 6 ; 
         FIG. 8  is a detailed view of  FIG. 3 ; 
         FIG. 9  is a detailed view of a brake of the device in a first position; and 
         FIG. 10  is a view similar to  FIG. 9  with the brake in a second position. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
       FIGS. 1 to 10  show a non-robotic/non-motorized physical-assistance device  1  of exoskeleton type designed to be worn by a user  2  in a delivery warehouse, for example an order preparer or a handler, in order to lighten the load, in use, on their upper limbs  5  when they are lifting and transporting a load C such as a package. The user  2  such as diagramed includes hips  3 , a back  4 , upper limbs  5 , shoulders  6 , a neck  7 , a head  8  and lower limbs  9 . 
     This physical-assistance device  1  mainly includes, in accordance with the present invention, a hip belt  10  at the rear of which are fastened load lifting/transporting assistance means  20 . 
     More precisely, the hip belt  10  is intended for being tightened around the waist/hips  3  of the user  2 . It includes for this adjustable straps  11  and a rear plate  12  intended for supporting the load lifting/transporting assistance means  20 . 
     The load transport assistance means  20  include a member for transferring loads constituted by a rigid dorsal support  21  erected vertically from the hip belt  10 . 
     More precisely, the rigid dorsal support  21  includes a central column (or mast/pole)  22  divided into a first small low portion  23  fastened to the plate  12 , an intermediate hinge  24  and a second large top portion  25  running along the back  4  of the user. The intermediate hinge  24  allows in particular the central column  22  to be inclined by following the movements of the user  2 , in particular by adapting the angle formed between their back  4  and their lower limbs  9  when they lean over or stand up. 
     The top portion  25  of the central column  22  is extended by two lateral branches  26  moving away from said top portion  25  on either side of the neck  7  of the user  2  (see  FIG. 8  for example). 
     Advantageously, the two branches  26  have a curvature  27  and pass over the shoulders  6  of the user  2 , without being in contact with the latter. Typically, the lateral branches  26  of the dorsal support  21  are disposed, in use, at a distance D from the shoulders  6  of the user  2  comprised between a few centimeters and a few tens of centimeters, preferably between about 2 and 20 centimeters and advantageously between substantially 5 and 15 centimeters. These branches are also sufficiently separated from the neck  7  and from the head  8  of the user  2  to not hinder the latter in their movements. 
     The lateral branches  26  can be adjusted in height and in rotation around the top portion  25  of the central column  22  in order to adapt to the different morphologies and/or preferred methods of use (some users may prefer that the branches  26  be more or less separated from their shoulders  6  and/or from their neck  7  and/or from their head  8 ). The top portion  25  of the central column  22  can also be adjusted in height. 
     The lateral branches  26  are constituted of hollow tubes in order to allow for receiving manually extendible/retractable streamlined means  30  to change the length of it of which the use will be described hereinafter. All the portions that form the dorsal support  21  can be hollow so as to reduce the weight of the device. The hollow tubes of the dorsal support are for example made from steel, carbon fiber or composite materials. 
     The manually extendible/retractable streamlined means  30  to change the length of it are constituted in the present case by two cables disposed inside hollow tubes of the lateral branches  26 , which then form a guide and are advantageously lined for this purpose with a means for reducing friction  37  such as a layer of PTFE, such as TEFLON®. 
     Each cable  30  is connected to a winder/unwinder  31  mounted in a common box engaged with the central column  22 , more specifically the top portion  25 . These two winders  31  allow, in use, said streamlined means  30  to be extended/retracted to change length. In addition, each cable  30  is provided at its free end with a sleeve  32  intended for being worn around the wrists of the user  2  and allowing the latter to lengthen/shorten said cables  30  while carrying a package C. 
     Each winder  31  is of the “pet leash/vacuum cleaner cable winder” type and is presented as a helical spring system which makes it possible to create a continuous traction force on the cable  30  considered so as to oppose the extending of the latter when the user  2  pulls on a sleeve  32 . 
     The device  1  is moreover provided close to one of the sleeves  32 , with a manual brake  35  disengageable by the user  2  to block/unblock cables  30  by directly acting on the winders  31 . 
     An elastic return element (not shown) connects the hip belt  10  to the lower portion  23  of the central column  22  in order to facilitate passing from the inclined position to the straight position of the user  2 . 
     The median portion  25  of the central column  22  is moreover provided with a cushion  40  intended for making the wearing of the device  1  more comfortable for the user  2 . Advantageously this cushion  40  is placed lower than the winders  31 , close to the lumbar hollow. 
     The device  1  also includes shoulder straps  50  to facilitate the transport thereof and prevent it from moving or falling during use. 
     Finally, the device  1  includes extendible elastic means  60  connecting the hip belt  10  to the lower limbs  9  of the user  2 , for example their knees, so as to facilitate passing from the folded leg position to the straight leg position (case where the user  2  squats to grasp a package and stands up to transport it or to place it on a shelf). 
     Using the device  1  in accordance with the present invention is particularly simple. 
     Once worn on the back of the user  2  using adjustable straps  50  and once the hip belt  10  tightened and adjusted around hips  3 , it is sufficient for the user  2  to grasp a package C with their two hands, after having installed the sleeves  32  around their wrists and grasped the brake  35 . 
     The movements of the arms  5  and of the shoulders  6  of the user  2  are constantly accompanied by the lengthening or the shortening of the cables  30  because the latter are indirectly connected to the package C via hands and sleeves  32 . Thus, if the user  2  folds their arms at their shoulders to raise the package (by remaining standing without folding the torso), the cables  30  will be shortened thanks to the traction force exerted by the winders  31 . Inversely, if the user  2  unfolds their arms (for example to grasp a package positioned on the floor), the cables  30  will automatically be extended against the traction force exerted by the winders  31 . 
     In the normal position of use, the brake  35  is deactivated ( FIG. 9 ), i.e., it does not block the winder  31  and therefore the length of the cables  30 , which therefore perfectly follow the movements of the arms  5  of the user  2  and (lengthening/shortening) according to these movements. 
     When the user  2  feels that they have correctly grasped the package and at a distance from the floor that is suitable for the transport thereof, they manually block the brake  35  by releasing it ( FIG. 10 ), which has for effect to stop the lengthening or the shortening of the cables  30  because the winders  31  are blocked in their position. 
     In this position, the user  2  only has to hold the package C with their hands in order to prevent it from sliding/falling on the floor, without having to support its weight with their arms  5  and their shoulders  6 , the cables  30  take up this force linked to the weight of the package C. This fore is in turn transferred onto the hollow tubes of the lateral branches  26  and on the winders  31  connected to the column  22 , then on the hip belt  10  via the member for transferring loads constituted by the rigid dorsal support  21 . 
     As the lateral branches  26  of the dorsal support  21  are never in contact with the shoulders  6 , the neck  7  or the upper limbs  5  of the user  2  (see  FIG. 8  in particular), the weight of the package C cannot rest on these parts of the human body because it is the cables  30  that take up the relay, in collaboration with the rigid branches  26 , the winders  31  and the column  22 . However, as the latter, just as the lateral branches  26  and the winders  31 , is fastened to the hip belt  10 , it is in reality mostly the latter that supports all the weight of the package thanks to chain of the transfer of forces described hereinabove. The vertebral column of the user  2  is also not solicited because the forces do not pass through the latter. The shoulders and the vertebral column of the user  2  support only a very small portion of the device  1  (most of its own weight being supported by the hip belt  10 ). 
     The user  2  can therefore transport the package C easily, without having to support the weight of the latter with their hands, their arms or their shoulders. They must simply hold the package C with their hands in order to prevent it from sliding or falling and ensure that the cables  30  remain correctly taught for the support. The sleeves  32  do not hinder this operation because they are well attached to the wrists of the user  2 . 
     Once the package C is placed at the desired location, the user  2  only has to release the brake  35  by acting on it in order to unblock the winders  31 . 
     This physical-assistance device  1  thus has an assistance in carrying a load C and therefore constitutes a tool for preventing the risks of musculoskeletal disorders which cause the degradation in the health of workers and generate work stoppages that penalize companies. 
     The solution proposed can be adapted to the morphology of many users  2  thanks to the different adjustments that it proposes (central column  22 , straps of the hip belt  10 , straps  50 , branches  26 ). It is capable of lightening the load both on the upper limbs  5 , the shoulders  6  and the back  4  of the user during load carrying tasks. The lessening of the forces lightens the load on the body at the arms and the back, thanks to a transfer of weight onto the hip belt  10 . The dorsal support also improves the awareness of the user as to their posture. In its current form, the weight of this assistance prototype is about a kilogram and it is put on in a few seconds. This is therefore a piece of equipment that is extremely light and very intuitive to use. 
     The transfer of weight of the package C directly at the lumbar region makes it possible to reduce the lever effect of the lifting force of the package, which makes it possible to save the muscular forces at the upper limbs and at the back. 
     The device presented here is therefore distinguished from the existing solutions by the following points and advantages:
         No additional weight is supported by the shoulders and the back;   No compression at the rib cage;   No motorization and pistons;   No movements imposed by the device;   Direct transfer of the weight to the pelvis;   No joint stress; and   The hands are free of any sizeable and uncomfortable instrumentation.       

     It must indeed be understood that the detailed description of the object of the invention, given only for the purposes of illustration, does not constitute in any way a limitation, with the technical equivalents also being comprised within the scope of the present invention. 
     Thus, the cables can be replaced with straps, cords or wires. 
     The form of the branches can vary as long as they comply with the imposed distance constraints with regards to the shoulders/neck/head of the user. 
     Other adjustments can be provided to best adapt the device  1  to the morphology of the users  2 .