RB3D History and Market perspect Exoskeleton : HERCULE Project Industrialization Why rigid exoskeleton are a good solution

1. Assistive Market : HERCULE Project
• RB3D History and Market perspect
• Exoskeleton : HERCULE Project
• Industrialization
• Why rigid exoskeleton are a good solution.
•
21/04/2017
1

2. COMPANY AND HISTORY
1
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
2

3. RB3D (3D Robotics)
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
3
1
French SME
Expert in human strength amplification
In Auxerre (close to Chablis)
18 peoples

4. RB3D’s Cobots
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
4
Flexibilité
Pénibilité
Flexibilité
Pas de pénibilité
Pas de flexibilité
Pas de pénibilité
100 % automatisation0%
1

5. Motion Assistive market
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
5
1

6. EXOSKELETON : HERCULE PROJECT
2
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
6

7. Original bet in 2009
Our goal was a 100% electrical exoskeleton with no sensor
under skin.
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
7
2
2007 - HULC : Lockheed Martin
Hydraulic power = bad energetical
efficiency
2003 - HAL : Cyberdyne
Intention detection with EMG = hard to install and
calibrate
Limited autonomy Limited fluid movements

8. PROJECT HERCULE
3 prototypes which made demonstrations
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
8
2
HV1
2010
HV2
2012
HV3
2014

9. HERCULE V3
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
9
2

10. Caractéristiques techniques Hercule V3
22/04/2017
10
2
HERCULE HV3
Exoskeleton weight 32 kg (included 3kg of batteries)
Pay load 40 kg
Energie Electrical , low voltage
Autonomie Approx 4 h
Max speed 3 km/h
Admissible
movement
walking, Up or down stairs, knee flexion or extension,
side movements,crouching
Hercule HV3
Confidentiel Industrie Propriété RB3D

11. HERCULE V3: A mechatronic system
22/04/2017
Confidentiel Industrie Propriété RB3D 11
Embedded electronics
Aluminium frame
Innovative actuators
Foot sensor
Battery LiOn
Secur network
Plastic injection
Embeded Software
2

12. INDUSTRIALIZATION
3
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
12

13. Exo Push V1 First test in Sept 2014
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
13
3

14. Current limits of active exoskeleton
22/04/2017
14
COMPLEXITY COST
RB3D – Confidentiel Industrie
3

15. Breakthrought
15
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
• Strengh multiplied per 3
• Weight divided per 3
3

16. Exo-Push V2
22/04/2017
Confidentiel Industrie Propriété RB3D
16
3
Dec 2015
Fev 2017

17. Coming back to back Pack transportation
22/04/2017
17
RB3D – Confidentiel Industrie
3
Anthropomorphic exoskeleton are too complex for industrial use
3 Using of exoskeleton is
limitated because of
weight and
perturbations.
1 Need to multiply
motors to make weight
going to ground
2 Sole with pressure
sensors

18. Disruptive vision
22/04/2017
18
RB3D – Confidentiel Industrie
3
Direct actuation could be an easy way to simplify exoskeleton
3 Bulky sensation
remove (for user and
collegues)
2 Sole removal
1 Direct going down of
pay load to ground
made by 2 Active
Telescope

19. 2016: HERCULE V4
22/04/2017
19
3
Direct Returns of
back load to the
ground
with telescopic
legs

20. Non Anthropomorphic vision
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
20
3
Coming soon
End 2017

21. WHY RIGID EXOSKELETON ARE A GOOD
SOLUTION
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
21
4

22. CONCLUSIONS
- Activ exoskeleton could :
– Improve health at work
– Increase productivity
- One condition : to be design for the task (Iron man suit is
not reality) an exoskeleton do not need to be
anthropomorphic to be performant.
- In 2017 first industrial exoskeleton will demonstrate it’s a
real futur.
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
22
5
Serge GRYGOROWICZ
serge.grygorowicz@rb3d.com
+ 33 (0)3 86 46 92 58

23. RIGID Exoskeleton
- Advantages
- Can take weight off :
• Heavy load (currently 60 kg on
Hercule V4).
• Remove a part of the weight of the
user (need a real force control
mode).
• Apply horizontal force component
(Up to 60 kg with Exo Push )
22/04/2017
RB3D - Mécatronique & ergonomie pour l'assistance aux efforts
23
5
- Disadvantages
- Heavy : supporting is own weight , bad
sensation are coming from inertia
- Use a lot of power :
• Batterie of 3,8 kg make 4h walking (on
flat profil)
• Hercule recycling energie from one leg to
another during stance (saving 20%
energie)
- Exhausting to wear
• With Exo Push 1st test show a reduction
from 130 BPM to 105 BPM