# US 11,026,852 B2 · Supporting structure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,026,852 B2 - Document ID: US11026852B2 - Status: Granted - Kind: B2 - Application number: 16/070,604 - Filed: 2017-02-14 - Published: 2019-01-17 - Granted: 2021-06-08 - Earliest claimed: 2016-02-18 - Assignees: Hexowheel - Applicants: Rodolphe Linon - Inventors: Rodolphe Linon - Web page: https://patentgrep.com/patent/US11026852B2 ## CPC - A61G 5/061: {for climbing stairs} - A61G 5/04: motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) - A61G 5/068: {with extensible supports pushing upwards, e.g. telescopic legs} - A61G 5/122: {for the back} - A61G 5/124: {for pelvis or buttocks} - A61G 5/127: {for lower legs} - A61G 5/128: {for feet} - A61G 5/14: Standing-up or sitting-down aids - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 1/0244: {Hip (A61H1/0255 takes precedence)} - A61H 1/0266: {Foot} - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 3/04: Wheeled walking aids for patients or disabled persons - A61H 2003/001: {on steps or stairways} - A61H 2003/007: {secured to the patient, e.g. with belts} - A61H 2003/043: {with a drive mechanism} - A61H 2201/0161: Size reducing arrangements when not in use, for stowing or transport - A61H 2201/1207: with electric or magnetic drive - A61H 2201/1623: Back - A61H 2201/1633: Seat (A61H2201/0149 takes precedence) - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/165: Wearable interfaces - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) ## Abstract A supporting structure includes two pairs of legs and four wheels each arranged at a lower end of a respective one of the legs. Each leg includes an upper segment and a lower segment, and optionally a retractable leg extension segment for contacting ground instead of the corresponding wheel. Such supporting structure is adapted for producing a lowering motion while keeping the legs crossed on both lateral sides. Such supporting structure may be adapted for assisting a disabled person in travelling on the ground, and also possibly in climbing stairs. ## Claims ### Claim 1 A supporting structure (100), comprising: a load-receiving part (1), configured for receiving a load to be transported or assisted during moving; two pairs of legs (2), each leg pair being arranged from one lateral side of the load-receiving part which is opposite another lateral side of said load-receiving part dedicated to the other leg pair, all legs (2) extending from the load-receiving part (1) towards ground when the supporting structure (100) is in a use condition on horizontal ground, and being adapted for maintaining the load-receiving part above the ground; and four wheels (2w) with respective rotation axes oriented horizontally when the supporting structure (100) is in the use condition on horizontal ground, each leg (2) being provided with one of said wheels at a lower end of said leg which is opposite a connection of said leg to the load-receiving part (1), wherein each leg (2) comprises an upper segment (2u) and a lower segment (21), wherein for each leg an upper end of the upper segment is rotationally connected to the load-receiving part (1) with a first rotation axis (A1), and a lower end of the upper segment is rotationally connected to an upper end of the lower segment with a second rotation axis (A2), and a lower end of the lower segment forming the lower leg end opposite the connection of said leg to the load-receiving part, first and second rotation axes of all legs being parallel and horizontal when the supporting structure (100) is in the use condition on horizontal ground, wherein the supporting structure (100) is adapted to be configured into a reference crossed leg position in the use condition on horizontal ground with the wheels (2w) all located on the ground, in which both legs (2) on each lateral side of the load-receiving part (1) extend downwards while crossing each other in projection into a sagittal plane of the supporting structure, wherein the supporting structure (100) is further adapted for performing a lowering of the load-receiving part (1) towards the ground from the reference crossed leg position, by bending each leg (2) upwardly about the second axis (A2) of said leg so as to reduce an angle (α) between the upper (2u) and lower (21) segments of said leg at the second axis, simultaneously for all four legs, thus increasing a first distance (d1) between both wheels (2w) on each lateral side of the load-receiving part, while both legs on each lateral side keep crossing each other in projection into the sagittal plane, said supporting structure (100) configured for forming an exoskeleton for a disabled person in which the load-receiving part (1) is a seat or backrest adapted for supporting at least one among a pelvis or a trunk of the disabled person, the wheels (2w) being freewheels during at least part of use of said supporting structure by the disabled person, and the supporting structure being movable on the ground by feet of the disabled person contacting and pulling the ground while the pelvis or trunk of said disabled person is supported by the load-receiving part (1). ### Claim 2 (depends on 1) The supporting structure (100) of claim 1, further adapted so that during the lowering of the load-receiving part (1) from the reference crossed leg position, both upper segments (2u) on each lateral side of the load-receiving part are simultaneously spread out through rotations of said upper segments about the first axes (A1) in opposite directions, so as to increase a second distance (d2) between the second axes (A2) on each lateral side of the load-receiving part, thereby lessening or suppressing the increase in the first distance between the wheels (2w) on each lateral side as resulting only from the bending of the legs (2) about the second axes. ### Claim 3 (depends on 2) The supporting structure (100) of claim 2, further adapted so that the lowering of the load-receiving part (1) is continued until abutting surfaces connected respectively to the upper (2u) and lower (21) segments of each leg (2) come into contact with each other for all legs, so as to stop further reduction in the angle (α) between the upper and lower segments of each leg, or until the four legs contact the ground at the four second axes (A2) in addition to the four wheels (2w). ### Claim 4 (depends on 2) The supporting structure (100) of claim 2, further adapted such that the legs (2) are movable about the first axes (A1) from the reference crossed leg position so as to uncross both legs on each lateral side of the load-receiving part (1), in projection into the sagittal plane, thereby producing an uncrossed leg position. ### Claim 5 (depends on 1) The supporting structure (100) of claim 1, further adapted so that the lowering of the load-receiving part (1) is continued until abutting surfaces connected respectively to the upper (2u) and lower (21) segments of each leg (2) come into contact with each other for all legs, so as to stop further reduction in the angle (α) between the upper and lower segments of each leg, or until the four legs contact the ground at the four second axes (A2) in addition to the four wheels (2w). ### Claim 6 (depends on 1) The supporting structure (100) of claim 1, further comprising at least one first motor system arranged for driving the lower segments (21) of the legs (2) in rotation about the respective second axes (A2), during the lowering of the load-receiving part (1) from the reference crossed leg position. ### Claim 7 (depends on 6) The supporting structure (100) of claim 6, wherein the first motor system comprises motor units each dedicated to producing rotation of one of the upper (2u) and lower (21) segments about one of the first (A1) or second (A2) axes, separately from other motor units dedicated to producing rotations of other ones of the upper and lower segments. ### Claim 8 (depends on 6) The supporting structure of claim 6, wherein the at least one first motor system also drives simultaneously the upper segments (2u) of the legs (2) in rotation about the respective first axes (A1). ### Claim 9 (depends on 1) The supporting structure (100) of claim 1, further adapted such that the legs (2) are movable about the first axes (A1) from the reference crossed leg position so as to uncross both legs on each lateral side of the load-receiving part (1), in projection into the sagittal plane, thereby producing an uncrossed leg position. ### Claim 10 (depends on 9) The supporting structure (100) of claim 9, adapted for moving the legs (2) from the uncrossed leg position so as to produce a walk motion of a four-footed animal. ### Claim 11 (depends on 1) The supporting structure (100) of claim 1, further comprising at least one second motor system arranged for driving at least two of the wheels (2w) in rotation, so that the supporting structure travels on the ground through rolling. ### Claim 12 (depends on 1) The supporting structure (100) of claim 1, wherein each leg (2) further comprises a retractable leg extension segment (2e) configured for extending downwards so as to push on the ground instead of the wheel (2w) of said leg, each leg extension segment being provided with a ground-contacting pad and having an extension length such that the leg is longer when the leg extension segment is extended, compared to the leg contacting the ground with the wheel of said leg when said leg extension segment is not extended. ### Claim 13 (depends on 12) The supporting structure (100) of claim 12, further adapted for being controlled for climbing a step or stairs, with the leg extension segments (2e) extended for at least two of the legs (2). ### Claim 14 (depends on 12) The supporting structure (100) of claim 12, adapted so that extending of each leg extension segment (2e) is produced by a motor system. ### Claim 15 (depends on 1) The supporting structure (100) of claim 1, further comprising: two jointed supports (3) extending from the load-receiving part (1) and adapted to move the legs of the disabled person in a coordinated manner with respect to a moving of the supporting structure. ### Claim 16 (depends on 1) The supporting structure (100) of claim 1, wherein the load receiving part (1) is suitable for adapting to a biped robot standing on the ground while allowing the biped robot to walk, and said supporting structure increasing stability for the biped robot. ### Claim 17 A supporting structure (100), comprising: a load-receiving part (1), designed for receiving a load to be transported or assisted during moving; two pairs of legs (2), each leg pair being arranged from one lateral side of the load-receiving part which is opposite another lateral side of said load-receiving part dedicated to the other leg pair, all legs (2) extending from the load-receiving part (1) towards ground when the supporting structure (100) is in a use condition on horizontal ground, and being adapted for maintaining the load-receiving part above the ground; and four wheels (2w) with respective rotation axes oriented horizontally when the supporting structure (100) is in the use condition on horizontal ground, each leg (2) being provided with one of said wheels at a lower end of said leg which is opposite a connection of said leg to the load-receiving part (1), wherein each leg (2) comprises an upper segment (2u) and a lower segment (21), wherein for each leg an upper end of the upper segment is rotationally connected to the load-receiving part (1) with a first rotation axis (A1), and a lower end of the upper segment is rotationally connected to an upper end of the lower segment with a second rotation axis (A2), and a lower end of the lower segment forming the lower leg end opposite the connection of said leg to the load-receiving part, first and second rotation axes of all legs being parallel and horizontal when the supporting structure (100) is in the use condition on horizontal ground, wherein the supporting structure (100) is adapted for producing a reference crossed leg position in the use condition on horizontal ground with the wheels (2w) all located on the ground, in which both legs (2) on each lateral side of the load-receiving part (1) extend downwards while crossing each other in projection into a sagittal plane of the supporting structure, wherein the supporting structure (100) is further adapted for performing a lowering of the load-receiving part (1) towards the ground from the reference crossed leg position, by bending each leg (2) upwardly about the second axis (A2) of said leg so as to reduce an angle (α) between the upper (2u) and lower (21) segments of said leg at the second axis, simultaneously for all four legs, thus increasing a first distance (d1) between both wheels (2w) on each lateral side of the load-receiving part, while both legs on each lateral side keep crossing each other in projection into the sagittal plane, wherein each leg (2) further comprises a retractable leg extension segment (2e) configured for extending downwards so as to push on the ground instead of the wheel (2w) of said leg, each leg extension segment being provided with a ground-contacting pad and having an extension length such that the leg is longer when the leg extension segment is extended, compared to the leg contacting the ground with the wheel of said leg when said leg extension segment is not extended. ### Claim 18 (depends on 17) The supporting structure (100) of claim 17, further adapted for being controlled for climbing a step or stairs, with the leg extension segments (2e) extended for at least two of the legs (2). ### Claim 19 (depends on 17) The supporting structure (100) of claim 17, adapted so that extending of each leg extension segment (2e) is produced by a motor system. ### Claim 20 A method for assisting movement by a disabled person, comprising: providing a support structure to the person, the support structure comprising a load-receiving part (1), configured for receiving a load to be transported or assisted during moving, two pairs of legs (2), each leg pair being arranged from one lateral side of the load-receiving part which is opposite another lateral side of said load-receiving part dedicated to the other leg pair, all legs (2) extending from the load-receiving part (1) towards ground when the supporting structure (100) is in a use condition on horizontal ground, and being adapted for maintaining the load-receiving part above the ground, and four wheels (2w) with respective rotation axes oriented horizontally when the supporting structure (100) is in the use condition on horizontal ground, each leg (2) being provided with one of said wheels at a lower end of said leg which is opposite a connection of said leg to the load-receiving part (1), wherein each leg (2) comprises an upper segment (2u) and a lower segment (21), wherein for each leg an upper end of the upper segment is rotationally connected to the load-receiving part (1) with a first rotation axis (A1), and a lower end of the upper segment is rotationally connected to an upper end of the lower segment with a second rotation axis (A2), and a lower end of the lower segment forming the lower leg end opposite the connection of said leg to the load-receiving part, first and second rotation axes of all legs being parallel and horizontal when the supporting structure (100) is in the use condition on horizontal ground, wherein the supporting structure (100) is adapted to be configured into a reference crossed leg position in the use condition on horizontal ground with the wheels (2w) all located on the ground, in which both legs (2) on each lateral side of the load-receiving part (1) extend downwards while crossing each other in projection into a sagittal plane of the supporting structure, wherein the supporting structure (100) is further adapted for performing a lowering of the load-receiving part (1) towards the ground from the reference crossed leg position, by bending each leg (2) upwardly about the second axis (A2) of said leg so as to reduce an angle (α) between the upper (2u) and lower (21) segments of said leg at the second axis, simultaneously for all four legs, thus increasing a first distance (d1) between both wheels (2w) on each lateral side of the load-receiving part, while both legs on each lateral side keep crossing each other in projection into the sagittal plane, said supporting structure (100) configured for forming an exoskeleton for the person in which the load-receiving part (1) is a seat or backrest adapted for supporting at least one among a pelvis or a trunk of the person; and moving the supporting structure on the ground by way of feet of the person contacting and pulling the ground while the pelvis or trunk of the person is supported by the load-receiving part (1), the wheels (2w) being freewheels during said moving so as to not impede a motion of the supporting structure (100) on the ground as driven by the person.