Abstract: An exoskeleton (1) having a plurality of autonomously operable modules (2RK, 2LK, 2RH, 2LH) each having a dedicated controller (23RK, 23LK, 23RH, 23LH) connected to an actuated joint. The exoskeleton (1) further having a multimaster electrical communicator (3) between the controllers (23RK, 23LK, 23RH, 23LH) of the modules (2RK, 2LK, 2RH, 2LH). The controller (23RK, 23LK, 23RH, 23LH) of each module (2RK, 2LK, 2RH, 2LH) is configured for: collecting information from sensors; sharing information with the remaining modules through the multimaster electrical communicator (3); determining which other modules (2RK, 2LK, 2RH, 2LH) are present; and autonomously calculating and commanding a desired trajectory of the actuated joint of the module (2RK, 2LK, 2RH, 2LH) for assisting the movement of the corresponding biological joint in coordination with the kinematic condition of other biological joints.

Abstract: The invention relates to an exoskeleton for assisting human movement, which can be fitted to the user in terms of dimensions, tension and ranges of joint motion, either manually or automatically. The exoskeleton can be fitted to the user in the anteroposterior direction in the sagittal plane, with the user in a horizontal or sitting position, without requiring a functional transfer. The exoskeleton has a modular design which is compatible with human biomechanics and reproduces a natural and physiological movement in the user, with up to 7 actuated and controlled degrees of movement per limb, ensuring that the user maintains equilibrium during locomotion.

Abstract: The subject matter of the invention is an articulation (1) with controllable stiffness and a force-measuring system, comprising a first device (20) that comprises a frame (4) having a curved face and connected to a first motor element (2), the first device (20) regulating the position of the articulation (1), and a second device (22) that regulates the stiffness of the articulation (1) and comprises a thrust element (15), the movement (D) of which determines the pre-compression of a resistive element (11) and thus the stiffness of the articulation (1); the first motor element (2) causes the frame (4) to rotate such that a wheel (8) of the second device (22) rolls on the curved face of the frame (4), causing the resistive element (11) to be compressed (C) via a transmission rod (7) associated with the wheel (8) and with the resistive element (11).

Abstract: The invention relates to an exoskeleton for assisting human movement, which can be fitted to the user in terms of dimensions, tension and ranges of joint motion, either manually or automatically. Said exoskeleton can be fitted to the user in the anteroposterior direction in the sagittal plane, with the user in a horizontal or sitting position, without requiring a functional transfer. The exoskeleton has a modular design which is compatible with human biomechanics and reproduces a natural and physiological movement in the user, with up to 7 actuated and controlled degrees of movement per limb, ensuring that the user maintains equilibrium during locomotion.

Abstract: The subject matter of the invention is an articulation (1) with controllable stiffness and a force-measuring system, comprising a first device (20) that comprises a frame (4) having a curved face and connected to a first motor element (2), the first device (20) regulating the position of the articulation (1), and a second device (22) that regulates the stiffness of the articulation (1) and comprises a thrust element (15), the movement (D) of which determines the pre-compression of a resistive element (11) and thus the stiffness of the articulation (1); the first motor element (2) causes the frame (4) to rotate such that a wheel (8) of the second device (22) rolls on the curved face of the frame (4), causing the resistive element (11) to be compressed (C) via a transmission rod (7) associated with said wheel (8) and with the resistive element (11).

Abstract: A walker (1) with a mechanism for assisting a user (21) in standing and sitting operations, comprising a support structure equipped with movement means (2,3), a device (20) for securing the user to the walker and a system for blocking the movement means, wherein the support structure comprises at least one pivoting arm (14) that guides the device (20) for securing the user (21), a guide support (11) that is fixed to the walker (1) and guides the arm (14), and a control module (15) that controls the system for blocking the movement means (2,3) and which comprises means for selecting a working mode of the walker, by selecting from between “walking mode” and “sitting/standing mode”.