Abstract: In one embodiment, the exoskeleton structure is fastened to the body of the user by a brace and at the foot level. The exoskeleton includes at least one set of three joints corresponding to the hip abduction/adduction, the hip flexion/extension and the knee flexion/extension, wherein the architecture of the exoskeleton is compatible with a set of different removable, adaptable and backdrivable actuation units dedicated to each joints and remotely located around the trunk of the user to decrease inertia and mass on the distal segments, wherein each joint can be modularily let free, constrained by a visco-elastic mechanism or actuated by one corresponding actuation unit.

Abstract: The invention concerns an exoskeleton made of elements combined or attached together, said elements being adjustable or not and said elements being made in a sandwich construction. The invention also concerns a method to manufacture such an exoskeleton.

Abstract: The method for controlling a single- or multi-powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) is/are controlled in force by a low level controller using an impedance control; wherein the joint(s) output force(s) is/are determined by a high level controller using a finite state control; and wherein the high level controller finite state control is governed by a voluntary motion from the user reaching a predetermined trigger.

Abstract: The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to produce corrective movements in the actuated degrees of freedom, wherein an estimation of the center of mass of the system comprising user and exoskeleton is made and the controller applies corrective measures on the actuated degrees of freedom to influence the position of the center of mass with respect to a center of pressure with the ground on which the exoskeleton is standing. The invention also concerns a device using the method according to the invention.

Abstract: In one embodiment, the exoskeleton structure is fastened to the body of the user by a brace and at the foot level. The exoskeleton includes at least one set of three joints corresponding to the hip abduction/adduction, the hip flexion/extension and the knee flexion/extension, wherein the architecture of the exoskeleton is compatible with a set of different removable, adaptable and backdrivable actuation units dedicated to each joints and remotely located around the trunk of the user to decrease inertia and mass on the distal segments, wherein each joint can be modularily let free, constrained by a visco-elastic mechanism or actuated by one corresponding actuation unit.

Abstract: The invention concerns an exoskeleton made of elements combined or attached together, said elements being adjustable or not and said elements being made in a sandwich construction. The invention also concerns a method to manufacture such an exoskeleton.