Abstract: An exoskeleton including a pair of lower modules connected to an upper portion by pivot points, an elastic actuator configured to exert, when tensioned, a compensatory force moment, a mechanical coupling assembly configured: —in a working position of the user, to tension the at least one elastic actuator when the lower modules form substantially the same non-zero angle with the upper portion, the exoskeleton then providing assistance, —in a walking position of the user, to enable a counter-phase free pivoting of the lower modules, without the exoskeleton providing assistance, the coupling assembly including a flexible connecting element coupling the lower modules together, and a flexible guide element of the connecting element, coupling the lower modules to the upper portion via the connecting element.

Abstract: An exoskeleton comprising: —an arm comprising a means for attaching an upper limb, —a load-bearing structure comprising a support point, —a compensation member secured to said arm by a first pivot, extending between said arm and said load-bearing structure and exerting a compensation force moment on said arm by deformation of an elastic element, —a force transmission element extending between a lower point of the compensation member and a rear end of the arm, —the elastic element and said force transmission element being loaded in tension when using the exoskeleton, so that the moment varies with the inclination of the arm, —said transmission element is secured to the arm by a second pivot, the first pivot being located between the second pivot and the front end of the arm.