Abstract: A modular exoskeleton structure provides force assistance to a user. The structure includes a base module including a lumbar belt capable of surrounding the waist of the user, a battery and a control unit attached to the lumber belt, a first attachment part attached to the belt and capable of cooperating with a second complementary attachment part of a hip module to attach the hip module to the base module by snapping the second attachment part into the first attachment part, and a third attachment part attached to the belt and capable of cooperating with a complementary fourth attachment part of a back module for attaching the back module to the base module.

Abstract: A load bearing assistance apparatus for transferring load from a lower extremity orthotic or prosthetic device to the ground. The load bearing assistance apparatus includes a lateral and a medial spring-loaded members and a linking mechanism for connecting the load bearing assistance apparatus to the lower extremity orthotic or prosthetic device. The linking mechanism also connects the lateral and medial spring-loaded members in a spaced apart configuration so as to position them adjacent the lateral and medial portions, respectively, of the foot of the user of the lower extremity orthotic or prosthetic device and such that a portion of the lateral and medial spring-loaded members enters in contact with the ground during locomotion.

Abstract: The invention relates to a modular exoskeleton structure that provides force assistance to a user, comprising a base module (1) comprising a lumbar belt (11) capable of surrounding the lower trunk of the user, two hip modules capable of being attached to two respective thighs of the user, and a backpack support module (14) for an exoskeleton structure, comprising: a hoop (141) designed to be anchored to the hip modules, at the hips of a user, a support rod (142) designed to extend along the back of the user and capable of being engaged in a pouch of a backpack to suspend the backpack to the backpack support module (14), wherein the rod (142) comprises a first rod element (1421) connected to the hoop (141), a second rod element (1422) capable of sliding with respect to the first rod element (1421) so as to vary a length of the rod (142), and a damper for cushioning the movement of the second rod element (1421) with respect to the first rod element (1422) caused by the walking of the user.

Abstract: A multi-segment supportive belt assembly for reducing displacement of one or more orthotic devices on the lower extremities of a user. The supportive belt comprises a first group of segments including a plurality of linking segments linking the supportive belt assembly to the anatomical structure of the user, and a second group of segments including, for each lower extremity, at least one lateral segment connecting adjacent linking segments, the at least one lateral segment being longitudinally aligned with the user's hips, at least one of the lateral segments being adapted to be connected to the one or more orthotic devices.

Abstract: An exoskeleton structure includes a pelvis assembly, a first lower limb assembly, a second lower limb assembly and a back assembly. The exoskeleton structure includes pivot joints connecting each of the lower limb assemblies and the back assembly to the pelvis assembly and permitting movements of abduction or adduction of the lower limbs of the user, a relative movement of lateral inclination of the spine of the user with respect to the pelvis of the user, and a twisting movement of the spine.

Abstract: An exoskeleton structure includes a leg part to be fastened to a leg of a user, a foot part to be fastened to a foot of a user, a mechanical linking assembly linking the leg part to the foot part, and including a first pivot allowing the foot part to rotate relative to the leg part about a first axis when the foot of the user makes an internal/external rotation movement relative to the leg, and a second pivot allowing the foot part to rotate relative to the leg part about a second axis when the foot of the user makes a pronation/supination movement relative to the leg. The first pivot is at a height greater than or equal to 20 centimetres from the ground, and the distance between the first axis of rotation and the second axis of rotation is less than or equal to 5 centimetres.

Abstract: The invention relates to a modular exoskeleton structure that provides force assistance to a user, comprising a base module (1) comprising a lumbar belt (11) capable of surrounding the lower trunk of the user, two hip modules capable of being attached to two respective thighs of the user, and a backpack support module (14) for an exoskeleton structure, comprising: a hoop (141) designed to be anchored to the hip modules, at the hips of a user, a support rod (142) designed to extend along the back of the user and capable of being engaged in a pouch of a backpack to suspend the backpack to the backpack support module (14), wherein the rod (142) comprises a first rod element (1421) connected to the hoop (141), a second rod element (1422) capable of sliding with respect to the first rod element (1421) so as to vary a length of the rod (142), and a damper for cushioning the movement of the second rod element (1421) with respect to the first rod element (1422) caused by the walking of the user.

Abstract: A linking device for an exoskeleton structure is provided. The device an input part mounted in rotation with respect to a support, and a transmission device that when a load is applied to the input part to pivot the input part in a first direction of rotation, the transmission device transmits to a first connecting link a force to pivot the first connecting link to transfer the load to a first mechanical leg assembly and unload a second mechanical leg assembly of the exoskeleton structure, and when a load is applied to the input part to pivot the input part in a second direction of rotation opposite to the first direction, the transmission device transmits to a second connecting link a force to pivot the second connecting link to transfer the load to a second mechanical leg assembly and unload the first mechanical leg assembly.

Abstract: An exoskeleton structure includes a back assembly, an arm assembly, and a shoulder connection device. The shoulder connection device includes a first connection part, a first pivot connecting the first connection part to the back assembly while allowing rotation of the first connection part around a first axis of rotation, a second connection part, a second pivot connecting the first connection part to the second connection part while allowing rotation of the second connection part around a second axis of rotation orthogonal to the first axis, and a third pivot connecting the second connection part to the arm assembly while allowing rotation around a third axis of rotation orthogonal to the second axis of rotation. The second pivot is arranged so that the second axis of rotation forms a non-zero angle with an abduction/adduction axis of the shoulder and a non-zero angle with a flexion/extension axis of the shoulder.

Abstract: A modular exoskeleton structure provides force assistance to a user. The structure includes a base module including a lumbar belt capable of surrounding the waist of the user, a battery and a control unit attached to the lumber belt, a first attachment part attached to the belt and capable of cooperating with a second complementary attachment part of a hip module to attach the hip module to the base module by snapping the second attachment part into the first attachment part, and a third attachment part attached to the belt and capable of cooperating with a complementary fourth attachment part of a back module for attaching the back module to the base module.

Abstract: An exoskeleton structure includes a leg part to be fastened to a leg of a user, a foot part to be fastened to a foot of a user, a mechanical linking assembly linking the leg part to the foot part, and including a first pivot allowing the foot part to rotate relative to the leg part about a first axis when the foot of the user makes an internal/external rotation movement relative to the leg, and a second pivot allowing the foot part to rotate relative to the leg part about a second axis when the foot of the user makes a pronation/supination movement relative to the leg. The first pivot is at a height greater than or equal to 20 centimetres from the ground, and the distance between the first axis of rotation and the second axis of rotation is less than or equal to 5 centimetres.

Abstract: An exoskeleton structure includes a pelvis assembly, a first lower limb assembly, a second lower limb assembly and a back assembly. The exoskeleton structure includes pivot joints connecting each of the lower limb assemblies and the back assembly to the pelvis assembly and permitting movements of abduction or adduction of the lower limbs of the user, a relative movement of lateral inclination of the spine of the user with respect to the pelvis of the user, and a twisting movement of the spine.

Abstract: A linking device for an exoskeleton structure is provided. The device an input part mounted in rotation with respect to a support, and a transmission device that when a load is applied to the input part to pivot the input part in a first direction of rotation, the transmission device transmits to a first connecting link a force to pivot the first connecting link to transfer the load to a first mechanical leg assembly and unload a second mechanical leg assembly of the exoskeleton structure, and when a load is applied to the input part to pivot the input part in a second direction of rotation opposite to the first direction, the transmission device transmits to a second connecting link a force to pivot the second connecting link to transfer the load to a second mechanical leg assembly and unload the first mechanical leg assembly.

Abstract: An exoskeleton subassembly is provided. The exoskeleton subassembly includes first and second exoskeleton parts, and a connecting assembly that connects the first and second exoskeleton parts. The connecting assembly includes a guide, a pin, and a limiting device. The guide is fixedly mounted on one part, and a pin fixedly mounted on the other part and slidably mounted inside the guide. The limiting device allows rotation of the pin with respect to the guide when the pin is in a first position, and to oppose the rotation when the pin is in a second position. The limiting device includes an elastic element engaged with the first part when the pin is in the second position. The elastic element exerts on the first part an elastic return force opposing relative rotation between the first and second parts both in two opposite directions of rotation.

Abstract: The invention relates to an exoskeleton sub-assembly (30) comprising: —a leg part (32) to be attached to a leg of a user, and—a foot part (33) to be attached to a shoe of the user; the leg part (32) comprises a tibial segment (321) extending below the knee, along the tibia of the user, when the leg part (32) is attached to the leg, and the tibial segment (321) comprises a first component (325), a second component (326) connected to the foot part (33), and a first joint (327) connecting the second component (326) to the first component (325), the first joint (327) permitting a rotation of the second component (326) with respect to the first component (325) caused by an internal or external rotation of the user's foot with respect to the leg.

Abstract: The invention relates to a back module (2) for an exoskeleton structure, comprising a spinal column segment (21) designed to extend along a spinal column of a user, the spinal column segment (21) comprising a plurality of vertebral elements (211), stacked on one another, and a flexible connecting element (212) connecting the vertebral elements (211) to one another, the spinal column segment (21) having a stable equilibrium position in which the flexible connecting element (212) holds the vertebral elements (211) supported against one another, and the flexible connecting element (212) being elastic so that, during a movement of the back of the user, the flexible connecting element (212) allows a movement of the vertebral elements (211) with respect to one another, while exerting a return force tending to return the spinal column segment (21) the stable equilibrium position.

Abstract: The invention relates to a foot module (7) for an exoskeleton structure, comprising an ankle joint (72), a first support plate (732) designed to be supported on the top of a boot of the user, when the foot module (7) is attached to the foot of the user, a second support plate (735) capable of being disposed under the sole of the boot, a first segment (731) connecting the ankle joint (72) to the first support plate (732) and a second segment (733) connecting the first support plate (732) to the second support plate (735), the first segment (733) and the second segment (735) forming a spring capable of being compressed when the boot is in contact with the ground (S) and being expanded when the boot is not in contact with the ground (S).

Abstract: The invention relates to an exoskeleton structure that provides force assistance to a user, comprising: a first module capable of being attached to a first portion of the body of a user, a second module capable of being attached to a second portion of the body of the user, the second module being connected to the first module by means of a joint (52, 62) allowing rotation of the second module (5, 6) with respect to the first module, an actuator (521) comprising a stator (522) and a rotor (523) capable of being driven in rotation with respect to the stator (522) to move the second module (5, 6) in rotation with respect to the first module (1, 5), and an elastic return element (524) arranged to: in a first angular range of movement (?1) of the rotor with respect to the stator (522), not exert any return force on the rotor (523) and, in a second angular range of movement (?2) of the rotor (523) with respect to the stator (522), exert a return force tending to oppose rotation of the rotor (523) with respect to

Abstract: A shoulder module (3) for an exoskeleton structure that connects to an elbow module (4) attached to an arm of a user to a back module (2) attached to the back of the user. The shoulder module (3) has a plurality of connecting parts (34, 36, 38, 310), and a first pivot (35) connecting two of the connecting parts (34, 36) while allowing rotation of one of the connecting parts with respect to the other connecting part (34) according to a first axis of rotation (X1), during a rotation of the elbow module (4) with respect to the back module (2) corresponding to an abduction or adduction movement of the shoulder of the user. The connecting parts (34, 36, 38, 310) include a connecting part (38) comprising two parts (381, 382) that slide to allow shortening or lengthening of the connecting part (38) of the elbow module (4).

Abstract: The invention relates to a foot module (7) for an exoskeleton structure, comprising an ankle joint (72), a first support plate (732) designed to be supported on the top of a boot of the user, when the foot module (7) is attached to the foot of the user, a second support plate (735) capable of being disposed under the sole of the boot, a first segment (731) connecting the ankle joint (72) to the first support plate (732) and a second segment (733) connecting the first support plate (732) to the second support plate (735), the first segment (733) and the second segment (735) forming a spring capable of being compressed when the boot is in contact with the ground (S) and being expanded when the boot is not in contact with the ground (S).