EP4166125B1 - Orthopaedic walking assistance device comprising motorisation means and means for spacing the patient's thighs - Google Patents

Description

Technical field of the invention

The present invention relates to an orthopedic device for assisting with walking and which can be used for rehabilitation of the type comprising at least a rigid frame, wheels, a pedal assembly and a saddle.

Previous technique

The document EP3598961 describes an orthopedic device for assisting with walking and which can be used for gait rehabilitation, in particular for patients with multiple disabilities and motor problems. This device comprises a base which has casters, a saddle support equipped with a saddle and articulated arms arranged on either side of the saddle support. The end of each of the articulated arms comprises a wedging element for the patient's foot or leg which is mounted adjustable in position according to the width of the base. This wedging element makes it possible to spread the patient's legs on either side of the saddle, thus avoiding friction between the saddle and the patient's thighs.

However, it turns out that for some patients, it is necessary to spread both the patient's thighs and legs. This is because for people with low muscle tone, a single point of blockage in the thighs or in the leg creates tension on the patient's knees because the legs are no longer aligned with the thighs.

Furthermore, the aforementioned document describes a motorized embodiment of the device. In this embodiment, the articulated arms have a motor on each of their joints. These motors must then be controlled to simulate walking and drive the patient's lower limbs. It turns out that since there are too many motors, controlling them for the purpose of simulating walking is complicated. In addition, these motors are fragile and it is difficult to connect them to a power source. power supply. It also turns out that the device described in the aforementioned document is difficult to steer, either by the patient or by a caregiver who pushes the device. Finally, when the device is equipped with a footrest sole, the patient has difficulty moving and encounters problems changing direction

The document WO2012/049442 describes a walking rehabilitation device that includes a base equipped with casters spaced along the width and length of the base. This device includes a harness that supports the patient's buttocks. The patient's thighs are inserted into straps that cannot be separated from each other. This device therefore does not allow the spacing of the patient's thighs to be adjusted and it does not include a pedal assembly.

The document JP2007014698 describes a device that allows the patient to walk. This device does not include a saddle holder or an element for wedging the patient's foot or leg that is adjustable and lockable in position according to the width of the device. This device also does not include a pedal assembly.

Furthermore, the document US9907721 describes a device that does not include any means of wedging the patient's leg or thighs. This device also does not include a pedal assembly.

In addition, the document CN107874984 describes a walking aid device that includes a belt that restrains the patient. The patient's legs are held at two uprights of the support, which cannot be separated. This device does not include a pedal assembly.

Finally, document KR2018 0123939 describes a walking aid device that includes an exoskeleton mounted on a mobile support with casters. The two uprights on which the patient's lower limbs are fixed cannot be moved apart from each other, so as to adjust the spacing of the patient's thighs. This device does not include a pedal assembly.

WO2017/093830A1 concerns a dual-use exoskeleton that can be used in walking aid mode and can be converted into a wheelchair, CN108309698A describes a gait rehabilitation trainer which simulates the gait of a human being during normal walking and allows patients suffering from lower limb movement dysfunction to practice walking by swinging their legs in an oval shape, CN109124907B relates to a multifunctional walking assistance device which comprises a walking system, an attitude conversion mechanism and a wheel walking system and EP3903756 A1 discloses a device according to the preamble of claim 1 and relates to a walking rehabilitation device comprising a base equipped with casters, two movable arms forming a pedal assembly, an element for wedging the patient's foot or leg, a saddle support and means for spreading the patient's thighs or legs on either side of the saddle support.

An aim of the present invention is to solve any of the drawbacks associated with the use of the device of the prior art.

In particular, an aim of the present invention is to propose a walking aid device which comprises a pedal assembly and makes it possible to adjust the spacing of the patient's thighs and feet/legs. Such a device makes it possible to adapt perfectly to the patient's morphology and pathology. Indeed, the presence of the pedal assembly implies precise positioning of the different parts of the patient's lower limbs so as not to cause injuries when using the device.

Presentation of the invention

The present invention aims to overcome these drawbacks with a completely innovative approach.

The invention is defined in the appended claims.

For this purpose, according to a first aspect, the present invention relates to a device for assisting a patient in walking, comprising a chassis equipped with casters spaced along the width and length of said chassis, a saddle support surmounting said chassis and extending substantially vertically, said walking aid device comprising two mobile segments arranged on either side of said saddle support and belonging to a pedal assembly, characterized in that each mobile segment is articulated around an axis transverse to said chassis and slides along parallel longitudinal rails, said walking aid device further comprising a wedging element of the foot or leg of the patient and means for spreading the patient's thighs arranged on either side of said saddle support, said spreading means following the alternating movement of the patient's lower limbs held by said wedging elements and by said spreading means, when the patient is installed on said device.

The presence of the means for spreading the patient's thighs or legs makes it possible to correctly position the patient's thighs, legs, knees and feet in an alignment that respects the physiology of the joints. The knees in particular can thus be placed in a position that does not prevent walking and that does not cause injury to the joint. The spreading means also make it possible to correct the position of the patient's hips, which determines the position of the patient's lower limbs. The leg or foot wedging element and the means for spreading the thighs or leg thus form means for guiding the leg during the walking movement.

The invention is implemented according to the embodiments and variants set out below, which are to be considered individually or in any technically effective combination.

According to the invention, said thigh spreading means comprise two lower side plates mounted parallel to each other on the saddle post, on either side of the latter, said lower side plates respectively supporting elongate arms to which are fixed supports for the thigh or leg receptacle, said elongate arms pivoting synchronously from front to back and vice versa around a first upper transverse axis and using connecting rods pivoting around secondary axes to alternately pass from a first position to a second position, the rotation of one elongate arm in one direction causing the rotation of the other opposite arm in the opposite direction, and vice versa.

This solution allows to accompany the patient's walking movement by guiding their alternating movements while maintaining their thighs in a specific position and imposing a natural and fluid gait.

Advantageously, each lower side plate is fixed to a double central jaw enclosing the seat tube and is angularly adjustable individually in relation to said central jaw.

This solution makes it possible to adapt the device to different patient morphologies, and in particular the length of their stride.

More specifically, each lower side plate has arcuate adjustment slots cooperating with screws fixed to the central double jaw.

According to another aspect of the present invention, each lower side plate is crossed in its thickness by an arched guide groove inside which slide pairs of rings secured to the elongated arms.

This solution allows for fluid and guided movement of the long arms and the most natural gait possible for the patient.

Preferably, each arched guide groove has front and rear stops against which the rings can rest respectively in the first and third positions.

This solution therefore makes it possible to limit the patient's movements.

According to another characteristic of the present invention, each elongated arm comprises a pair of stabilizing and guiding pads in constant support against external lateral faces of the corresponding lower lateral plates.

This solution prevents rehabilitation from being carried out incorrectly, for example with sudden jolts or unexpected lateral movements.

According to a particular embodiment, combinable with any of the embodiments of the invention, said device comprises means for driving the arms forming the pedal assembly, said drive means being adapted to alternately drive said movable arms in a rotational movement combined with a translation. The pedal assembly being activated due to an external force, it causes the movement of the device of the invention and the patient's gait. The drive means may, for example, be means for alternately rotating the ends of the movable arms. The alternate drive is obtained by means of gears chosen and known to those skilled in the art.

In particular, the device comprises a single, common motorization device for controlling both the reciprocating movement of the pedal assembly and the movement of the rear wheels.

More specifically, the motorization device comprises a central motor driving on the one hand the arms of the pedal assembly via a first belt connected to a first geared motor and on the other hand the rear wheels via a second belt connected to a second disengageable geared motor.

According to an alternative embodiment, the device comprises a first central motor driving the arms of the pedal assembly and independent motors to drive each rear wheel.

In particular, the device equipped with a joystick/manual piloting lever integrated into an armrest and piloting one and/or the other of the motors.

According to a particular embodiment, each patient's foot wedging element comprises a spring-loaded front leg piece for exerting an elastic restoring force on the lower part of the patient's leg, in particular from below the knee.

Brief description of the figures

• La [Fig. 1] représente une vue générale en perspective d'une variante de motorisation ;
• La [Fig. 2] représente une autre vue générale en perspective de la figure 1 ;
• La [Fig. 3] représente une vue de détail de la figure 1 ;
• La [Fig. 4] représente une vue générale en perspective d'une autre variante de motorisation ;
• La [Fig. 5] représente une vue de détail en de la figure 4 ;
• La [Fig. 6] représente une vue générale en perspective d'une autre variante de motorisation ;
• La [Fig. 7] représente une vue tridimensionnelle d'un dispositif de maintien des cuisses du patient dans une première position d'utilisation ;
• La [Fig. 8] représente une autre vue tridimensionnelle du dispositif de maintien de la figure 7 ;
• La [Fig. 9] représente une vue tridimensionnelle du dispositif de maintien des figures 7 et 8 mais dans une deuxième position intermédiaire d'utilisation ;
• La [Fig. 10] représente une autre vue tridimensionnelle du dispositif de maintien de la figure 9 ;
• La [Fig. 11] représente une vue tridimensionnelle du dispositif de maintien des figures 7 à 10 dans une troisième position d'utilisation ;
• La [Fig. 12] représente une autre vue tridimensionnelle du dispositif de maintien de la figure 11 ; et
• La [Fig. 13] représente une vue tridimensionnelle de détail d'une partie d'un pédalier du dispositif de la présente invention.

Other advantages, aims and characteristics of the present invention emerge from the following description given, for explanatory and non-limiting purposes, with reference to the appended drawings, in which:

• There [ Fig. 1 ] represents a general perspective view of a motorization variant;
• There [ Fig. 2 ] represents another general perspective view of the figure 1 ;
• There [ Fig. 3 ] represents a detailed view of the figure 1 ;
• There [ Fig. 4 ] represents a general perspective view of another engine variant;
• There [ Fig. 5 ] represents a detailed view of the figure 4 ;
• There [ Fig. 6 ] represents a general perspective view of another engine variant;
• There [ Fig. 7 ] represents a three-dimensional view of a device for supporting the patient's thighs in a first position of use;
• There [ Fig. 8 ] represents another three-dimensional view of the holding device of the figure 7 ;
• There [ Fig. 9 ] represents a three-dimensional view of the holding device figures 7 And 8 but in a second intermediate position of use;
• There [ Fig. 10 ] represents another three-dimensional view of the holding device of the figure 9 ;
• There [ Fig. 11 ] represents a three-dimensional view of the holding device figures 7 to 10 in a third position of use;
• There [ Fig. 12 ] represents another three-dimensional view of the holding device of the figure 11 ; And
• There [ Fig. 13 ] represents a three-dimensional detailed view of a portion of a pedal assembly of the device of the present invention.

Description of the embodiments

THE Figures 1 to 3 relate to a first embodiment of a device D for assisting with walking and equipped on the one hand with a motorization member 200 and on the other hand with a device 8 for spreading the thighs of a patient.

This walking aid device D comprises a rigid mechanically welded chassis 1, such as a longitudinal central beam, resting on two rear drive wheels 11 and two front directional casters 13 mounted freely pivoting about a vertical axis, the rear wheels 11 being significantly further apart than the front wheels 13. The device D also comprises a saddle post 7 which extends vertically and on which a saddle made for example of plastic (polymer) can be fixed, and a handlebar 2 for steering it manually, when this is possible.

For the sake of clarity, the saddle is not shown in the figures. The saddle support 7 comprises a hollow tube 71 which extends horizontally along the length of the device D and of which a sliding part 71' extends downwards. A front tube 73 erected vertically from the horizontal hollow tube 71 is also provided for placing an element for retaining and/or maintaining the patient's bust.

The walking aid device D is also equipped with a pedal system 90 comprising in particular two parallel longitudinal segments 91 and 93, the front ends 91' and 93' of which have slides mounted to slide linearly along parallel longitudinal rails 10 belonging to the central beam 1 and the rear ends of which are articulated on axes 91" and 93" connected to lateral cranks 204 belonging to a motorization member 200 described in more detail later.

Furthermore, the pedal assembly 90 comprises right and left pedal rods 4 each sliding linearly along a corresponding segment 91 or 93 simultaneously with the combined sliding movement (along the rails 10) and rotation (around the rear axles 91" and 93") of the latter thanks to the motorization system 200.

Each pedal rod 4 carries a lateral toe clip 6, preferably adjustable in width and height (relative to the ground). The toe clip 6 is preferably mounted so as to be rotatable on the lower end of the corresponding pedal rod 4 (right or left). The angular position of the toe clip is also preferably variable and can be fixed in a chosen position. Angular locking means (not shown) which make it possible to lock its angular position relative to the pedal rod 4 can therefore be provided.

In all embodiments, the foot clip 6 comprises means for fixing the patient's foot which are not shown in the aforementioned figures, for the sake of clarity and simplification. A spring-type shock absorption system may also be integrated into the pedals between the segments and the foot clips 6, as illustrated in the figure 13 .

In the first design mode, the motorization member 200 comprises a single central motor 201 secured to a rear part of the device D and supplied with current by an electric battery 51 mounted at the rear and above the central beam 1. This battery 51 is optionally removable and can be recharged without the presence of the device of the invention.

The central motor 201 is connected on the one hand to the pedal assembly 90, and in particular to the segments 91 and 93 using a first toothed belt 202 engaged with a first geared motor 203 secured to the crank 204 and, on the other hand to the drive axle 205 of the rear wheels 11 using a second toothed belt 206 engaged with a second geared motor 207. A brake system 208 for lack of current is also provided on the drive axle 205 to secure the device D on slopes.

The central motor 201 thus makes it possible to drive the lateral cranks 204 in rotation, which pivot the segments 91 and 93 around the axes 91" and 93" while sliding them along the rails 10 of the central beam 1, which activates the sliding of the pedal rods 4 along the segments 91 and 93 in a regular and repetitive linear alternating movement. The central motor 201 also makes it possible to drive the rear wheels 11 in rotation around the axle 205 in order to move the walking assistance device D forward/backward.

In this first mode, the ratio between the speed of movement and the speed of the pedals is therefore fixed. The motorization member 200, that is to say the central motor 201, therefore allows both to rotate the pedals for rehabilitation and assistance with walking, but also to advance the device D. The traction transmission to the rear wheels 11 can be disengaged and allow rehabilitation while stationary, with the device D immobile and the pedals 91/93 rotating. This motorization architecture is particularly suitable for patients who can use their arms to accelerate and steer the vehicle using the handlebars 2.

THE figures 4 And 5 relate to a second embodiment of the motorization member 200 of the walking assistance device D.

In this second embodiment, the motorization member 200 comprises a first central motor 211 secured to a rear part of the device D and connected only to the segments 91 and 93 of the pedal assembly 90 using a first toothed belt 212 engaged with a first geared motor 213 secured to a crank 214, and two secondary motors 221 and 222 each connected to a corresponding rear wheel 11. A power failure brake system is also integrated in each secondary motor 221 and 222 in order to secure the vehicle D on slopes. This configuration provides the same functionalities as the first embodiment but also makes it possible to decouple the forward speed of the vehicle (secondary motors) and the speed of the pedal assembly (main motor). This motorization architecture is particularly suitable for patients who can use their arms to accelerate and steer the vehicle using the handlebar 2.

There figure 6 relates to a third embodiment of the motorization member 200 of the walking assistance device D.

In this third mode, the motorization member 200 comprises a first central motor 231 connected only to the segments 91 and 93 of the crankset using a first toothed belt 232 engaged with a first geared motor 233 secured to a crank 214, and two secondary motors 241 and 242 connected to each of the rear wheels. An armrest 245 is mounted on the seat post 7 and comprises a joystick 247 for controlling the secondary motors 241 and 242. The central motor 231 can operate alone in order to allow rehabilitation without moving, while remaining seated on the vehicle D. A power failure brake system is also integrated in each secondary motor 241 and 242 in order to secure the vehicle on slopes. This motorization architecture is suitable for patients who cannot use their arms to accelerate and steer the vehicle, which is therefore piloted using the joystick 247. The vehicle D turns thanks to the difference in speeds between the right and left motorized rear wheels 11.

THE Figures 7 to 12 show in more detail the means 8 of spreading the patient's thighs illustrated in the Figures 1 to 6 , which are illustrated in three different typical positions of use.

More specifically, the figures 7 And 8 show the spreading means 8 in a first position in which the patient's right thigh is placed forward, and the left thigh is placed, on the opposite side, backward, according to the direction of movement of the orthopedic walking aid device.

THE figures 9 And 10 show the spreading means 8 in a second intermediate position, called median, in which the right and left thighs are placed substantially opposite each other after their respective movements.

Finally, the figures 11 And 12 show the spreading means 8 in a third position in which the right thigh is placed behind while the left thigh is placed, on the contrary, forward, always in the direction of movement of the orthopedic walking aid device.

The following description focuses more specifically on these three different positions.

On the figures 7 And 8 , the spacing means 8 firstly comprise a first pair of right 101a and left 101b lower metal side plates fixed to the saddle support rod 7 (not shown), symmetrically and on either side thereof. These lower side plates 101a and 101b are typically thick metal sheets, for example made of stainless steel measuring several millimetres thick, and each have a generally arched shape (portion of an angular sector).

These first lower side plates 101a and 101b are for example identical and are fixed parallel to each other on a central vertical double jaw 102 tightened around the seat tube 7. The lower side plates 101a and 101b are moreover adjustable from front to back relative to the central double jaw 102 (and therefore also relative to the seat post 7) by means of fixing means 103 such as screws. Each lower side plate 101a and 101b is thus fixed in four different zones 104 (front top, front bottom, rear top, rear bottom) on the central jaw 102 by means of two pairs of screws 103. Each fixing zone 104 is presented in the present case under the form of a slot in the form of a domestic arc through the thickness of each lower side plate and receiving a screw 103, which in particular makes it possible to adapt the spacing means 8 to the morphology of the patient by tilting/pivoting the lower side plates 101a and 101b from front to back relative to the seat post 7 before tightening the pairs of screws 103. Preferably the right lower side plate 101a and the left lower side plate 101b are arranged at the same level.

Each of the lower side plates 101a and 101b respectively carries an elongate arm 105a and 105b in the form of a perforated rigid metal strip (for example made of stainless steel several millimeters thick) on which is fixed a support 106a/106b for a U-shaped receptacle 94a intended to receive the thigh (right or left depending on the plate/strip) of the patient. As for the lower side plates 101a and 101b, the right 105a and left 105b elongate arms are arranged parallel to each other on either side of the saddle post 7.

The right elongate arm 105a has a right connecting tab 112a with a corresponding lower side plate 101a. More precisely, the right lower side plate 101a is provided with a right arc-shaped through groove 107a inside which slide a pair 113a of front and rear guide rings, these rings being moreover each screwed onto a corresponding connecting tab 112a.

Similarly, the left elongate arm 105b has a left connecting tab 112b with a corresponding lower side plate 101b. More specifically, the left lower side plate 101b is provided with a left arc-shaped through groove 107b inside which slide a pair 113b of front and rear guide rings, these rings being moreover each screwed onto a corresponding connecting tab 112b.

The lower right side plate 101a is also provided with a pair 108a of front and rear stops (depending on the direction of movement of the orthopedic walking aid device) against which come to bear respectively the front and rear rings 113a during their sliding inside the right arcuate groove 107a between the first and third extreme positions.

Similarly, the lower left side plate 101b is provided with a pair 108b of front and rear stops (depending on the direction of movement of the orthopedic walking aid device) against which the front and rear rings 113b come to bear respectively when they slide inside the left arcuate groove 107b between the first and third extreme positions.

Furthermore, the elongated right arm 105a is articulated around a first upper transverse axis 120a passing through the hollow tube 71 and is connected to a lower front part 71' of said hollow tube 71 of the seat post 7 using a system of front connecting rods which are articulated respectively around transverse axes parallel to each other and to the upper transverse axis 120a.

More specifically, a first large straight right connecting rod 115a extends between a first right pivot axis 117a connected to the long right arm 105a and a second right pivot axis 118a, while a second small straight right connecting rod 116a extends between the second right pivot axis 118a and a third right pivot axis 119a, which is connected to the lower front part 71' of the hollow tube 71. The second right pivot axis 118a is said to be "free" because it is not connected to any part other than the two connecting rods 115a and 116a.

Similarly, the left elongated arm 105b is articulated around a first upper transverse axis 120b passing through the hollow tube 71 and is connected to a lower front part 71' of said hollow tube 71 of the seat post 7 using a system of front connecting rods which are articulated respectively around transverse axes parallel to each other and to the upper transverse axis 120b.

More specifically, a first large left connecting rod 115b, this time in the shape of an “L”, extends between a first left pivot axis 117b linked to the elongate left arm 105b and a second left pivot axis 118b, while a second small straight connecting rod left 116b extends between the second left pivot axis 118b and a third left pivot axis 119b connected to the lower front part 71' of the hollow tube 7. The second left pivot axis 118b is said to be "free" because it is not connected to any part other than the two connecting rods 115b and 116b.

The two third pivot axes on the right 119a and on the left 119b are collinear.

Finally, pairs of right 130a and left 130b half-sphere/ball-shaped guide and stabilization pads are respectively connected to a lower portion of each of the right 105a and left 105b elongated arms, below the right 112a and left 112b connecting tabs. These right 130a and left 130b guide pads respectively bear permanently against an external lateral face (also called a rolling surface) of each of the right 101a and left 101b lower lateral plates throughout the alternating forward and backward movement of said right 105a and left 105b elongated arms relative to said plates, in order to accompany the movement explained in more detail below.

• le bras longiligne de gauche 105b a pivoté vers l'avant autour du premier axe transversal supérieur de gauche 120b de manière à faire avancer le support de gauche 106b du réceptacle 94b, entraînant l'avancée de la cuisse gauche du patient et le glissement vers l'avant des bagues de gauche 113b dans la gorge arquée de gauche 107b de la platine latérale inférieure de gauche 101b, et
• de manière simultanée, le bras longiligne de droite 105a a pivoté vers l'arrière autour du premier axe transversal supérieur de droite 120a de manière à faire reculer le support de droite 106a du réceptacle 94a, entraînant le recul de la cuisse droite du patient et le glissement vers l'arrière des bagues de droite 113a dans la gorge arquée de droite 107a de la platine latérale inférieure de droite 101a.

So, the figures 9 And 10 illustrate the second intermediate median position presented previously and in which:

• the left elongate arm 105b has pivoted forward about the first left upper transverse axis 120b so as to advance the left support 106b of the receptacle 94b, causing the patient's left thigh to advance and the left rings 113b to slide forward in the left arcuate groove 107b of the left lower lateral plate 101b, and
• simultaneously, the right elongated arm 105a pivoted rearward about the first upper right transverse axis 120a so as to move the right support 106a back from the receptacle 94a, causing the patient's right thigh to move back and the right rings 113a to slide rearward in the right arcuate groove 107a of the right lower lateral plate 101a.

These two opposite and simultaneous movements of the elongated arms 105a and 105b (one pivoting forwards causing the other to pivot backwards) are accompanied by the sliding of the pads 130a and 130b on the respective external lateral faces of the right 101a and left 101b plates.

During these synchronized movements, the right connecting rods 115a/116a and the left connecting rods 115b/116b also pivoted relative to their respective right 117a/118a/119a and left 117b/118b/119b axes in order to end up in the second position.

It is this set of anterior connecting rods, guide pads and rings cooperating with the guide through slots which allows the movement of the elongated arms 105a and 105b, and therefore of the patient's thighs, to be fluid, natural, stable, guided, and with a minimum of friction.

In this second intermediate median position, the elongated arms 105a and 105b, and therefore the patient's thighs, are substantially face to face on either side of the seat post 7.

• le bras longiligne de gauche 105b a continué de pivoter vers l'avant autour du premier axe transversal supérieur de gauche 120b de manière à faire avancer le support de gauche 106b du réceptacle 94b, entraînant l'avancée de la cuisse gauche du patient et le glissement vers l'avant des galets de gauche 113b dans la gorge arquée de gauche 107b de la platine latérale inférieure de gauche 101b jusqu'à ce que le galet avant de gauche 113b viennent en appui contre la butée avant de gauche 108b, et
• de manière simultanée, le bras longiligne de droite 105a a continué de pivoter vers l'arrière autour du premier axe transversal supérieur de droite 120a de manière à faire reculer le support de droite 106a du réceptacle 94a, entraînant le recul de la cuisse droite du patient et le glissement vers l'arrière des galets de droite 113a dans la gorge arquée de droite 107a de la platine latérale inférieure de de droite 101a jusqu'à ce que le galet arrière de droite 114a viennent en appui contre la butée arrière de droite 109a.

Finally, the figures 11 And 12 illustrate the third position of this mobile set in which:

• the left elongate arm 105b continued to pivot forward about the first upper left transverse axis 120b so as to advance the left support 106b of the receptacle 94b, causing the patient's left thigh to advance and the left rollers 113b to slide forward in the left arcuate groove 107b of the left lower side plate 101b until the left front roller 113b came to bear against the left front stop 108b, and
• simultaneously, the right elongate arm 105a continued to pivot rearward about the right upper first transverse axis 120a so as to move the right support 106a back from the receptacle 94a, causing the patient's right thigh to move back and the right rollers 113a to slide rearward in the right arcuate groove 107a of the right lower lateral plate 101a until the right rear roller 114a comes to bear against the right rear stop 109a.

During these synchronized movements, the right connecting rods 115a/116a and the left connecting rods 115b/116b also continued to pivot relative to their respective right 117a/118a/119a and left 117b/118b/119b axes in order to end up in the third position.

It is this set of anterior connecting rods, guide pads and rings cooperating with through slots which allows the movement of the patient's long arms and thighs to be fluid, natural, stable, guided and with a minimum of friction.

Thus, throughout the patient's movement using the walking aid device D according to the invention, an alternating movement of the right long arm/right thigh - left long arm/left thigh is performed, the advancement of one long arm/thigh causing the other long arm/thigh to move backward, and vice versa. With this kinematics, it is even possible to move backward and not forward, the retreat of one thigh causing the opposite thigh to move forward, and vice versa.

The pedal assembly and the means for spreading the patient's thighs of the walking aid device D produce the walking movements independently of the spatial position of the patient's hip and knee joints, so that the operation is not influenced by the size of said patient.

In addition, an adjustment at the connecting rods allows the patient's step to be lengthened and/or raised.

Finally, the pedal board also works without motorization, by pushing the walking aid device D via a caregiver.

There figure 13 illustrates in detail a part of the pedal assembly 90 and in particular the pedal rods 4 and the associated toe clips 6. Each toe clip 6 is each equipped with a support leg piece 16 provided with an internal torsion spring (not shown) which can pivot about a transverse axis 18 linked to the toe clip 6 so as to form an elastic return member exerting a force on the lower part of the patient's leg, from below his knee. The role of this leg piece 16 is thus to straighten the patient's leg when his position is substantially perpendicular to the ground.

It should be clearly understood that the detailed description of the subject matter of the invention is given for illustration purposes only, the invention being defined by the claims.

Claims (12)

1. A patient walking assistance device (D), including a chassis (1) equipped with wheels (11; 13) spaced apart along the width and the length of said chassis, a rod-shaped saddle support (7) surmounting said chassis (1) and extending substantially vertically, said walking assistance device (D) comprising two movable segments (91, 93) disposed on either side of said saddle support (7) and belonging to a crankset (90), each movable segment (91, 93) being hinged about an axis (91", 93") transverse to said chassis (1) and sliding along parallel longitudinal rails (10), said walking assistance device (D) further including an element (6) for wedging the patient's foot or leg and means (8) for spacing the patient's thighs disposed on either side of said saddle support (7), said spacing means (8) following the alternating movement of the patient's lower limbs held by said wedging elements (6) and by said spacing means (8) when the patient is installed on said device, characterised in that said thigh spacing means (8) comprise two lower lateral plates (101a, 101b) mounted parallel to each other on the saddle post (7), on either side of the latter, said lower lateral plates (101a, 101b) supporting respectively elongate arms (105a, 105b) to which supports (106a, 106b) for thigh or leg receptacles (94a, 94b) are fastened, said elongate arms (105a, 105b) pivoting synchronously back and forth and vice versa about a first upper transverse axis (120a, 120b) and using connecting rods (115a, 115b, 116a, 116b) pivoting about secondary axes (117a, 117b, 118a, 118b, 119a, 119b) to alternately pass from a first position to a second position, the rotation of an elongate arm (105a; 105b) in one direction causing the rotation of the other opposite arm (105b; 105a) in the opposite direction, and vice versa.
2. The device according to claim 1, characterised in that each lower lateral plate (101a, 101b) is fastened on a double central jaw (102) enclosing the saddle post (7) and is individually angularly adjustable relative to said central jaw (102).
3. The device according to claim 2, characterised in that each lower lateral plate (101a; 101b) includes arcuate adjustment slots (104) cooperating with screws (103) which are fastened to the double central jaw (102).
4. The device according to any one of claims 1 to 3, characterised in that each lower lateral plate (101a, 101b) is passed through, in the thickness thereof, by an arcuate guide groove (107a, 107b) inside which pairs of rings (113a, 113b) which are secured to the elongate arms (105a, 105b) slide.
5. The device according to Claim 4, characterised in that each arcuate guide groove (107a; 107b) includes front and rear stops (108a; 1089b) against which the rings (113a; 113b) can bear respectively in the first and second positions.
6. The device according to any one of claims 1 to 5, characterised in that each elongate arm (105a, 105b) includes a pair of stabilisation and guide pads (130a, 130b) in constant support against outer lateral faces of the corresponding lower lateral plates (101a, 101b).
7. The device according to any one of the preceding claims, characterised in that it includes means for driving said segments (93; 91) forming the crankset, said drive means being adapted to alternately drive said movable segments (93; 91) in a rotational movement combined with a translation.
8. The device according to claim 7, characterised in that it includes a single and common motorisation device (201) for controlling both the reciprocating movement of the crankset (91, 93) and the movement of the rear wheels (11).
9. The device according to claim 8, characterised in that the motorisation device includes a central motor (201) driving, on the one hand, the segments (91, 93) of the crankset via a first belt (202) connected to a first geared motor (203) and, on the other hand, the rear wheels (11) via a second belt (206) connected to a second disengageable geared motor (207).
10. The device according to claim 7, characterised in that it includes a first central motor (211) driving the segments of the crankset and independent motors (221, 222) for driving each rear wheel (11).
11. The device according to claim 10, characterised in that it is provided with a joystick/manual control lever (247) integrated into an armrest (245) and controlling one and/or the other of the motors.
12. The device according to any one of the preceding claims, characterised in that each element (6) for wedging the patient's foot includes a front spring-loaded leg part (16) for exerting an elastic return force on the lower portion of the patient's leg, in particular from below his knee.

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