STAIRCASE WITH INSTRUMENTED STEPS WITH LIFTING ACTUATOR FOR ASSISTED ASCENT OR DESCENT

Abstract

The invention relates to a system for assisted ascent or descent, comprising: —a staircase comprising at least one instrumented mobile step, equipped with at least one sensor for measuring the centre of pressure of a user and at least one lifting actuator designed to raise or lower the step according to a degree of vertical freedom; —a calculation unit connected to the sensor for measuring the centre of pressure and to the lifting actuator, the calculation unit being configured to calculate at least the position, the speed of movement and the acceleration of the user from the centre of pressure measured by the sensor and, depending on the values calculated, control the lifting actuator.

Claims

1. A system for assisted ascent or descent, comprising: a staircase comprising at least one instrumented mobile step, provided with at least one sensor for measuring the center of pressure of a user and at least one lifting actuator capable of raising or lowering the step according to a vertical degree of freedom; a calculation unit connected to the sensor for measuring the center of pressure and the lifting actuator, the calculation unit being configured to calculate at least the position, the speed of movement and the acceleration of the user on the basis of the center of pressure measured by the sensor and, as a function of the calculated values, control the lifting actuator.

2. The assistance system as claimed in claim 1, wherein the staircase comprises a plurality of instrumented mobile steps adjacent to each other, the calculation unit being configured to control each lifting actuator independently of the others.

3. The assistance system as claimed in claim 1, further comprising at least two fixed steps each instrumented with at least one sensor for measuring the center of pressure of the user, each of the two fixed steps respectively defining the upper and lower stories between which the staircase is arranged.

4. The assistance system as claimed in claim 1, wherein the sensor for measuring the center of pressure is a so-called six-axis force sensor, capable of measuring forces on six axes (Fx, Fy, Fz, Mx, My, Mz).

5. The assistance system as claimed in claim 1, further comprising at least one sensor for measuring the center of mass connected to the calculation unit, said unit further being configured to compare the measurement of the center of mass of the user to the measurement of the center of pressure, deduce therefrom whether the user is imbalanced and, as a function of this comparison, control the lifting actuator.

6. The assistance system as claimed in claim 5, wherein the sensor for measuring the center of mass is arranged near the staircase.

7. The assistance system as claimed in claim 6, wherein the sensor for measuring the center of mass is a camera or a stereoscopic device.

8. The assistance system as claimed in claim 1, wherein the calculation unit incorporates a learning algorithm capable of acquiring the characteristics of a given user's gait from the measurements of the center of pressure sensor, and if applicable of the sensor for measuring the center of mass, recognizing the user and adjusting the control of each lifting actuator as a function of the recognition made.

9. The use of the assistance system as claimed in claim 1 to detect a fall of the user and in response to this detection, send an alert to a remote server connected to the system.

10. The use of the assistance system as claimed in claim 1 to detect a unipedal phase followed by a bipedal phase, corresponding to a potential fall of a user by tripping and, in response to the detection, immobilize the steps of the staircase or at the very least reduce their lifting speed.

11. The use of the assistance system as claimed in claim 1 to detect the deterioration of a user's gait.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG. 1 is a block diagram of an instrumented staircase system according to the invention.

[0036] FIG. 2 is a schematic view of an example of an instrumented staircase with lifting actuator according to the invention.

[0037] FIG. 3 is a perspective schematic view of an embodiment of an instrumented step according to the invention incorporating a six-axis force sensor and an electric cylinder as a lifting actuator.

[0038] FIG. 4A is a schematic view illustrating a first stage of ascent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0039] FIG. 4B is a schematic view illustrating the second stage of ascent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0040] FIG. 4C is a schematic view illustrating the third stage of ascent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0041] FIG. 4D is a schematic view illustrating the fourth stage of ascent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0042] FIG. 5A is a schematic view illustrating a first stage of descent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0043] FIG. 5B is a schematic view illustrating the second stage of descent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0044] FIG. 5C is a schematic view illustrating the third stage of descent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0045] FIG. 5D is a schematic view illustrating the fourth stage of descent of a user between two adjacent instrumented steps assisted by a system according to the invention.

[0046] FIG. 6 is a schematic view illustrating a first situation in which a user is at risk of falling by tripping following a collision with an obstacle, the system according to the invention being capable of detecting and responding to this first situation.

[0047] FIG. 7 is a schematic view illustrating a second situation in which a user is at risk of falling by tripping following a collision with an obstacle, the system according to the invention being capable of detecting and responding to this second situation.

DETAILED DESCRIPTION

[0048] Throughout the present application, the terms “bottom”, “top”, “below”, “above”, “lower” and “upper” should be understood by reference to the arrangement of a staircase according to the invention between two stories.

[0049] FIG. 1 shows a block diagram of a system 1 for assisted ascent or descent according to the invention.

[0050] First of all, the system 1 comprises a staircase 10 with steps that are each mobile between a bottom end position and a top end position. The movement of each step is provided by a lifting actuator incorporated into the step as set out in detail below.

[0051] The system also comprises an instrument 20 capable of measuring the position of the center of pressure of the user and all of its derivatives on each step of the staircase, and an instrument 30 capable of measuring the center of mass of the user (and all of its derivatives).

[0052] A calculation unit 40 adjusts the control of each lifting actuator of the steps as a function of the user's position on the staircase and their speed of movement, deduced from the center of pressure measured, and the potential imbalance through the center of mass measurement.

[0053] The calculation unit 40 can further check, when a user is present on the staircase 10, that they are well balanced relative to a previously created data log and/or database.

[0054] The algorithm embedded in the calculation unit 40, preferably generated by learning, can thus verify that the center of pressure/center of mass relationship ensures the balance of the user. If an imbalance is observed, the system 1 makes it possible to detect that the user has fallen.

[0055] FIG. 2 is a schematic view of an example of a staircase 10. Here, the staircase comprises three instrumented steps M1, M2, M3, which are adjacent and movably mounted along a path shown in dashed lines in FIG. 2, between a bottom end position and a top end position. In order for each step M1 to M3 to move, they incorporate a lifting actuator 11. The function of a lifting actuator 11 is thus to raise a step M1 to M3 vertically along a path that allows it to be positioned level with an adjacent step.

[0056] In addition, each of the steps M1 to M3 is provided with a six-axis force sensor, with reference sign 20, that makes it possible to refer to the position of the center of pressure of a user on each step, as set out in detail below.

[0057] The going of the steps M1 to M3 is typically between 20 and 30 cm.

[0058] The upstream Mi and downstream Ms steps of the staircase that respectively define the lower story and the upper story are fixed, but they are also each instrumented by means of a six-axis force sensor. The function of these two steps Mi, Ms is to measure the user's gait, in order to predict their movement either on ascent or descent of the staircase 10. In other words, when a user approaches, upstream or downstream of the staircase 10, the measurement sensors 20, 30 record the characteristics of the center of pressure and mass, for example the positions, speeds, history, accelerations in space, in order to initiate the controlled movement of the steps M1 to M3.

[0059] An example of an instrumented and motorized step M1 according to the invention is illustrated in FIG. 3.

[0060] Here, the lifting actuator is an electric cylinder 11 arranged with its support 12 between a base 13 and an interface plate 14. The cylinder 11 and its support 12 are fastened to the base 13 and the rod of the cylinder 11 is fastened to the connecting plate 14, which provides the vertical movement of the step.

[0061] The six-axis force sensor 20 is arranged between a user interface plate 15 and the connecting plate 14.

[0062] By way of example, an electric cylinder 11 can have a maximum vertical speed of movement of 1 m/s for a load of 100 kg.

[0063] As shown by means of symbols in FIG. 3, the sensor 20 makes it possible to measure the forces along the X, Y and Z axes and the moments about each of these axes. The deformations taken into consideration along each of these axes are also represented by the symbols lx, ly, lz respectively.

[0064] How the center of pressure on a step is determined by a six-axis force sensor 20 will now be described in detail.

[0065] A step M1 to M3 is considered to be rigid, that is, it undergoes negligible deformation under load, lz being constant.

[0066] The force of the user on the interface plate 15 is a pure resultant, that is, not a moment resultant at the center of pressure. As a result, hereinafter, Lext=Mext=Next=0.

[0067] According to the fundamental principle of dynamics applied to a step, the sum of the torsors on a given step M1, M2 or M3 can be written as:

(step/0)G.sub.step={(Weight/step}G.sub.step+{(Ext/step}M+{(sensor/step}P

[0068] where: [0069] (step/0)G.sub.step: Dynamic torsor of the step relative to the fixed reference frame 0 at point G.sub.step, [0070] {(Weight/step}G.sub.step: Static torsor of the weight on the step at point G.sub.step, [0071] {(Ext/step}M: Static torsor of the forces of the user on the step at point M, [0072] {(sensor/step}P: Static torsor of the forces of the sensor on the step at point P.

[0073] All of the equations are reduced to the same point P, the location of the measurement by the six-axis force sensor 20.

[0074] With {right arrow over (PM)}=lx {right arrow over (z)}+ly {right arrow over (y)}+lz {right arrow over (z)}, the center of pressure is obtained by the parameters lx and ly, the parameter lz being considered by design to be constant and known, as mentioned above (assumption of a rigid step).

[0075] The different torsors are written as

[00001]$\left\{(\mathrm{Weight}/\mathrm{step}\right\}{G}_{step}=\left\{\begin{array}{cc}0& 0\\ -m_{step}*g& 0\\ 0& 0\end{array}\right\}{G}_{step}=\left\{\begin{array}{cc}0& 0\\ -m_{step}*g& 0\\ 0& 0\end{array}\right\}P$

[0076] where m.sub.step is the mass of the step and the points G.sub.step and P are aligned along the vertical axis y.

[00002]$\left\{(\mathrm{Ext}/\mathrm{step}\right\}{G}_{step}=\left\{\begin{array}{cc}{F}_x& L_{ext}\\ F_y& N_{ext}\\ F_z& M_{ext}\end{array}\right\}M=\left\{\begin{array}{c}{F}_x{L}_{ext}+l_y*F_z-l_Z*F_y\\ F_y{M}_{ext}+l_z*F_x-l_x*F_z\\ F_z{N}_{ext}+l_x*F_y-l_y*F_x\end{array}\right\}P$$\left\{(\mathrm{sensor}/\mathrm{step}\right\}P=\left\{\begin{array}{cc}{F}_{xsen}& L_{sen}\\ F_{ysen}& N_{sen}\\ F_{zsen}& M_{sen}\end{array}\right\}P$$\left\{𝒟(\mathrm{step}/0\right\}P=\left\{\begin{array}{cc}0& 0\\ m_{step}*\stackrel{.Math.}{y_{step}}& 0\\ 0& 0\end{array}\right\}P$

[0077] that is, the translation of the step along the vertical axis y.

[0078] The following equations are thus obtained:

[00003]$\{\begin{array}{c}\begin{array}{cccc}0& =& F_x+F_{\mathrm{xsen}}& \left(1\right)\\ m_{step}*\stackrel{.Math.}{y_{step}}& =& -m_{\mathrm{step}}*g+F_y+F_{\mathrm{ysen}}& \left(2\right)\\ 0& =& F_z+F_{\mathrm{zsen}}& \left(3\right)\\ 0& =& L_{\mathrm{ext}}+l_y*F_z+l_z*F_y+L_{\mathrm{sen}}& \left(4\right)\\ 0& =& M_{\mathrm{ext}}+l_z*F_x-l_x*F_z+M_{\mathrm{sen}}& \left(5\right)\\ 0& =& N_{\mathrm{ext}}+l_x*F_y-l_y*F_x+N_{\mathrm{sen}}& \left(6\right)\end{array}\\ \end{array}$

[0079] On the basis of equations (1), (2) and (3), the forces Fx, Fy and Fz of the user can be obtained, on a step, given that the other values are known (m.sub.step, gravity g, acceleration along the y axis) or measurable. In particular, the value of the acceleration of the step corresponds to the acceleration applied by the electric cylinder 11, which is a known value as it is imposed when the actuator is controlled.

[0080] The system of equations (4), (5) and (6) makes it possible to determine the values lx and ly as lz is considered to be constant and the moments created by the user are considered to be negligible (Lext, Mext and Next equal to 0).

[0081] Ultimately, there are therefore three equations for two unknowns, and the last equation makes it possible to check that the value of lz is indeed the constant selected.

[0082] The acquisition module of the calculation unit 40 logs this measurement of lx and ly.

[0083] The calculation unit 40 can thus record the distance traveled, through an integration of the signal of the movement, determine the speed of movement (1st derivative), and determine the acceleration of movement (2nd derivative).

[0084] A camera or stereoscopic device is arranged near the staircase and can thus estimate the position of the center of mass of the user.

[0085] FIGS. 4A to 4D illustrate the operation of a system 1 according to the invention for the ascent of a staircase 10 by a user.

[0086] The presence of the user is initially detected on a lower step M1 (FIG. 4A).

[0087] When the user places their foot on this step M1 and starts their ascent, the actuator 11 raises this step M1 and the actuator 11 of the adjacent upper step M2 lowers it to the same level (FIGS. 4B, 4C).

[0088] Once the user has transferred their center of pressure to the step M2, the operation is repeated with the following steps M2, M3 until the upper story Ms is reached (FIG. 4D). Unladen step M1 is returned to its initial position.

[0089] FIGS. 5A to 5D illustrate the operation of a system 1 according to the invention for the descent of a staircase 10 by a user.

[0090] The presence of the user is initially detected on an upper step M3 (FIG. 5A).

[0091] When the user places their foot on this step M3 and starts their descent, the actuator 11 lowers this step M3 and the actuator 11 of the adjacent lower step M2 raises it to the same level (FIGS. 5B, 5C).

[0092] Once the user has transferred their center of pressure to the step M2, the operation is repeated with the following steps M2, M1 until the lower story Mi is reached (FIG. 4D). Unladen step M3 is lowered to its bottom end position again.

[0093] With the system according to the invention, it is possible to detect situations of potential falls of a user by tripping and actively provide a response.

[0094] This detection can take place through the recognition of two balance recovery strategies, which are characterized by protective steps by the user.

[0095] Thus, when there is a trip, which is a situation in which the user's swing foot comes into contact with an obstacle, the user can adopt a first so-called “elevating” strategy. In this situation, the foot that has come into contact with the obstacle will perform a lift-off phase, in order to move over the obstacle. Following this strategy, the user returns to a bipedal stance on a single step.

[0096] The second strategy is known as “lowering”. When the swing foot and the obstacle collide, the user returns his swing foot to the ground, in order to return to a bipedal stance.

[0097] With the system according to the invention, and on the basis of the measurement of the center of pressure, it is possible to distinguish between the unipedal stance (on one foot) and bipedal stance (on two feet) phases. This is carried out by locating the center of pressure relative to the sagittal plane of the user and measuring the speed of movement of the center of pressure. When a unipedal stance phase followed by a bipedal stance phase is detected on a single step, it is possible to detect the lowering protective step strategy and therefore potential imbalance. This situation is shown in FIG. 6.

[0098] When a unipedal stance phase followed by a bipedal stance phase is detected on two consecutive steps, it is possible to detect the elevating strategy. This situation is shown in FIG. 7.

[0099] Following the detection of one or the other strategy, the system can immobilize the mechanism, that is, not generate the lifting of the staircase steps, so as not to perturb the user or to significantly reduce, for example by a factor of 10, the speed of travel of the staircase steps.

[0100] The invention is not limited to the examples that have just been described; in particular, features of the examples illustrated can be combined within variants that are not illustrated. Other variants and improvements can be envisaged without departing from the scope of the invention.

[0101] For example, although in the example illustrated the staircase 10 comprises three instrumented steps motorized by means of a lifting actuator, any number of steps starting from a single instrumented and motorized step can be envisaged.