EXOSKELETON STRUCTURE

FIELD OF THE INVENTION

An exoskeleton structure is disclosed.

STATE OF THE ART

In the military field, infantrymen are commonly equipped with backpacks allowing them to carry equipment. When infantrymen carry out prolonged missions, the mass of the backpack can reach 50 kilograms. The mass of the backpack can greatly reduce the mobility of the infantryman and generate greater metabolic expenditure.

In addition, the backpack usually rests on the shoulders or hips of the user, which can generate musculoskeletal disorders in the shoulders, skin pressure, or even be the cause of peripheral neurological symptoms. nerve compression (tingling).

Current solutions consist in distributing the mass of the backpack both over the shoulders using shoulder straps and over the hips using a lap belt. However, these solutions do not make it possible to completely relieve the user.

Exercise-assist exoskeletons are mechanical structures that double the structure of the human skeleton and that improve the physical capacities of the human body.

Some exoskeleton structures have been proposed which allow the mass of the backpack to rest on the ground.

However, the known exoskeleton structures (sometimes qualified as “walking robots”) generate a very significant bulk and reduce the mobility of the user.

SUMMARY OF THE INVENTION

An object of the invention is to provide a solution to allow a user to be relieved of a significant portion of the mass of his backpack, without reducing the mobility of the shoulders, trunk and pelvis. user while walking or running.

This aim is achieved in the context of the present invention by virtue of an exoskeleton structure comprising:

- a pelvis assembly comprising a belt suitable for surrounding the pelvis of a user to attach the pelvis assembly to the user's pelvis,

- a first set of lower limbs suitable for being fixed to a first lower limb of the user,

- a first pivot link connecting the first set of lower limb to the pelvis assembly, the first pivot link allowing rotation of the first lower limb assembly relative to the pelvis assembly during an abduction movement or adduction of the first lower limb,

- a second set of lower limbs suitable for being fixed to a second lower limb of the user,

- a second pivot link connecting the second set of lower limb to the pelvis assembly, the second pivot link allowing rotation of the second lower limb assembly relative to the pelvis assembly during an abduction movement or 'adduction of the second lower limb,

- a back assembly comprising a harness suitable for being attached to the user's thorax,

- a spine mechanism connecting the back assembly to the pelvis assembly,

- a third pivot link connecting the spine mechanism to the pelvis assembly, the third pivot link allowing rotation of the pelvis assembly relative to the back assembly, during a relative movement of lateral inclination the user's spine in relation to the user's pelvis,

- a third member capable of generating a third torque tending to oppose the rotation of the pelvis assembly relative to the assembly of

back during the relative tilting movement of the spine to the side of the pelvis, and

wherein the spine mechanism comprises a fourth pivot link allowing rotation of the back assembly relative to the pelvis assembly upon torsional motion of the spine.

The proposed exoskeleton structure allows the load exerted on the back assembly to be transferred to the first set of lower limbs and to the second set of lower limbs, while being compatible with the degrees of freedom of the pelvis, spine (that is, the spine) and shoulders that are stressed when walking or running.

The degrees of mobility provided by the first pivot connection, the second pivot connection and the third pivot connection make it possible to design a structure in which the load is transferred alternately to the user's first lower limb and then to the second lower limb of the user. user, while walking or running.

In particular, the third pivot link allows an oscillation of the spinal column mechanism with respect to the pelvis assembly (oscillation movement which occurs naturally during walking or running), while the third organ opposes the torque. generated by the load and acting on the back assembly due to the presence of the third pivot link. The third organ thus makes it possible to prevent this torque from being transferred to the user's spine.

In addition, the fourth pivot link allows an alternating torsional movement of the spine which accompanies the movement of the back relative to the pelvis.

The proposed exoskeleton structure may also have the following characteristics:

- the exoskeleton structure comprises a first organ capable of generating a first torque tending to oppose the rotation of the first set of lower limbs with respect to the entire pelvis during an adduction movement of the first lower limb ,

- the exoskeleton structure comprises a second organ capable of generating a second torque tending to oppose the rotation of the second lower limb assembly relative to the pelvis assembly during an adduction movement of the second lower limb , - the first organ or the second organ or the third organ comprises an elastic return element between the first set of lower limbs or the second set of lower limbs or the back set and the pelvis set, the resilient element of return generating a return force tending to oppose the rotation of the first assembly of lower limb or of the second assembly of lower limb or of the back assembly with respect to the assembly of pelvis,

- the elastic return element comprises a part in the form of a spiral having a first end connected to the pelvis assembly and a second end, opposite the first end, suitable for being stressed by the first lower limb assembly or the second lower limb assembly or the back assembly when rotating the first lower limb assembly or the second lower limb assembly or the back assembly relative to the pelvis assembly,

- the exoskeleton structure comprises a first stop suitable for being fixed on the pelvis assembly so that in a first angular range of rotation of the first assembly of lower limbs or of the second assembly of lower limbs relative to the assembly of pelvis, the elastic return element abuts against the first stop and exerts, via the first stop, on the first set of lower limbs or the second set of lower limbs a restoring force tending to oppose the movement of adduction of the lower limb, and in a second angular range, the elastic return element is no longer in abutment against the first stop and no longer exerts a restoring force on the lower limb assembly,

- The exoskeleton structure comprises means for adjusting the position of the first stop relative to the pelvis assembly making it possible to adjust a transition angle between the first angular range and the second angular range,

- The means for adjusting the position of the first stop include a slot and a pin slidably mounted inside the slot,

- the exoskeleton structure, a second stop fixed to the lower limb assembly and able to urge the elastic return element to exert an elastic prestress on the elastic return element,

- the exoskeleton structure comprises means for adjusting the position of the second stop relative to the lower limb assembly,

- the spine mechanism comprises a lower spine piece connected to the pelvis assembly via the third pivot link and an upper spine part connected to the back assembly via a fifth ball joint allowing rotation of the back assembly in relation to the spine mechanism during a lateral tilt movement and during a flexion / extension movement of the user's spine,

- the upper part of the spine is able to slide longitudinally relative to the lower part of the spine, the spinal column mechanism further comprising an elastic return member capable of generating an elastic return force tending to oppose the sliding of the upper spine piece relative to the lower spine piece during vertical compression of the user's spine,

- the damping device comprises a cylinder and a clean piston to slide inside the cylinder, one of the piston and the cylinder being mounted fixed relative to the upper part of the spine and the other of the piston and the cylinder being mounted fixed relative to the lower part of the spine,

- the upper part of the spine is connected to the lower part of the spine by the fourth pivot connection allowing rotation of the upper part of the spine relative to the lower part of the spine about a longitudinal axis of the column mechanism vertebral during the twisting movement of the user's spine,

- the exoskeleton structure comprises adjustment means allowing adjustment of a distance between the first pivot connection and the second pivot connection,

- The adjustment means comprise one or more light (s) and one or more pin (s) slidably mounted (s) inside the light (s).

PRESENTATION OF THE DRAWINGS

Other characteristics and advantages of the invention will emerge from the following description, which is purely illustrative and non-limiting, and should be read with reference to the appended figures, among which:

- Figure 1 shows schematically, in front view, an exoskeleton structure according to one embodiment of the invention,

- Figure 2 schematically shows a rear part of the exoskeleton structure of Figure 1,

- Figures 3 and 4 schematically shows the first pivot connection, the second pivot connection and the third pivot connection of the exoskeleton structure,

- Figure 5 schematically shows the first pivot connection, the second pivot connection and the third pivot connection of the exoskeleton structure, when the third pivot connection is in the initial position,

- figure 6 schematically shows the first pivot link, the second pivot link and the third pivot link of the exoskeleton structure, when the third pivot link is in an inclined position, - figures 7 to 9 show schematically, the first pivot link, the first torque generation member, a preload adjusting mechanism and an associated stop position adjusting mechanism,

- Figure 10 shows schematically means for adjusting the distance between the first pivot link and the second pivot link.

DETAILED DESCRIPTION OF AN EMBODIMENT

In Figure 1, the exoskeleton structure 1 shown comprises a pelvis assembly 2, a first lower limb assembly 3, a second lower limb assembly 4, a back assembly 5, a first upper limb assembly 6, and a lower limb assembly 6. second set of upper limb 7.

The pelvis assembly 2 includes a lumbar belt 21 adapted to surround a user's pelvis to attach the pelvis assembly to the user's pelvis. The pelvis assembly 2 may further include a control unit 22 and a battery 23, attached to the kidney belt 21. The control unit 22 is configured to control different actuators of the exoskeleton structure 1. The battery 23 is suitable for supplying the various actuators with electrical energy.

The first set of lower limbs 3 is suitable for being fixed to a first lower limb of the user, for example to the right lower limb (or right leg). The first lower limb assembly 3 may include attachment straps for securing the first lower limb assembly 3 to the first lower limb.

The second set of lower limbs 4 is suitable for being fixed to a second lower limb of the user, for example to the left lower limb (or left leg). The second lower limb assembly 4 may include attachment straps for securing the second lower limb assembly 4 to the second lower limb. The second set of lower limbs 4 is symmetrical with the first set of lower limbs 3, with respect to a sagittal plane S of the user when the user is in the anatomical reference position.

By "reference anatomical position" is meant the position of the user when the latter is standing on a horizontal floor, the arms hanging down to the side of the body, the forearms and the hands supinated, in accordance with the system of support. reference in anatomy. The sagittal plane S is the plane which separates the left half from the right half of the body.

The first set of upper limbs 6 is suitable for being fixed to a first upper limb of the user, for example to the upper right limb (or right arm). The first upper limb assembly 6 includes attachment straps for securing the first upper limb assembly 6 to the first upper limb.

The second set of upper limb 7 is suitable for being fixed to a second upper limb of the user, for example to the upper left limb (or left arm). The second upper limb assembly 6 includes attachment straps for securing the second upper limb assembly 6 to the second upper limb.

The back assembly 5 comprises a harness 53 suitable for being attached to the thorax of the user. To this end, the harness 53 may include a set of straps making it possible to attach the back assembly 5 to the thorax.

The exoskeleton structure 1 further comprises a first hip joint 8 connecting the first lower limb assembly 3 to the pelvis assembly 2 and a second hip joint 9 connecting the second lower limb assembly 4 to the pelvis assembly. basin 2.

The exoskeleton structure 1 further comprises a first shoulder joint 10 connecting the first upper limb assembly 6 to the back assembly 5 and a second shoulder joint 11 connecting the second upper limb assembly 7 to the back. back set 5.

As illustrated in Figure 2, the exoskeleton structure 1 further includes a spine mechanism 19 extending along the user's spine. The spine mechanism 19 connects the back assembly 5 to the pelvis assembly 2. The spine mechanism 19 transfers a load exerted on the back assembly 5 to the pelvis assembly 2, for example the weight of a backpack.

The pelvis assembly 2 includes a first hip piece 24, a second hip piece 25, a pelvis piece 26, a

first pivot link 27, a second pivot link 28 and a third pivot link 29.

The pelvis piece 26 is attached to the lumbar belt 21.

The first hip piece 24 is connected at one end to the first lower limb assembly 3 via the first hip joint 8 and at the other of its ends to the pelvis piece 26 via the first pivot link 27. The first pivot link 27 allows rotation of the first lower limb assembly 3 relative to the pelvis assembly 2 during an abduction or adduction movement of the first lower limb. To this end, the first pivot connection 27 allows rotation of the first hip piece 24 relative to the pelvis piece 26 about a first horizontal axis of rotation X1 and parallel to the sagittal plane of the user, when the user is in the anatomical reference position.

The second hip piece 25 is connected at one of its ends to the second lower limb assembly 4 via the second hip joint 9 and at the other of its ends to the pelvis piece 26 via the second pivot link 28. The second pivot connection 28 allows rotation of the second lower limb assembly 4 relative to the pelvis assembly 2 during an abduction or adduction movement of the second lower limb. To this end, the second pivot connection 28 allows rotation of the second hip piece 25 relative to the pelvis piece 26 about a second horizontal axis of rotation X2 and parallel to the sagittal plane of the user, when the user is in the anatomical reference position. The second axis of rotation X2 is parallel to the first axis of rotation X1.

The spine mechanism 19 includes a lower spine piece 191, an upper spine piece 192, and a fourth pivot link 193.

The lower spine piece 191 is connected to the pelvis assembly 2 via the third pivot link 29. The third pivot link 29 allows rotation of the pelvis assembly 2 relative to the back assembly 5, during rotation. a lateral tilting movement of the user's pelvis relative to the user's spine. To this end, the third pivot connection 29 allows rotation of the pelvis part 26 relative to the lower spine part 191 about a third axis of rotation X3, horizontal and parallel to the sagittal plane of the user, when the user is in the anatomical reference position. The third axis of rotation X3 is parallel to the first axis of rotation X1 and to the second axis of rotation X2.

The upper spine piece 192 is slidably mounted relative to the lower spine piece 191 along a longitudinal axis X4 of the spine mechanism 19. Further, the fourth pivot link 193 allows rotation of the assembly. back 5 relative to the pelvis assembly 2 during a twisting movement of the user's spine. To this end, the fourth pivot link 193 allows rotation of the upper part of the spine 192 relative to the lower part of the spine 191 about the longitudinal axis X4.

The spine mechanism 19 further comprises an elastic return member adapted to generate an elastic return force opposing the sliding of the upper spine piece 192 relative to the lower spine piece 191. More specifically, The elastic return member is adapted to exert on the upper part of the spine 192 a return force proportional to the relative displacement of the upper part of the spine 192 with respect to the lower part of the spine 191 during axial compression of the spine. The elastic return member may comprise a cylinder and a piston capable of sliding inside the cylinder, one of the piston and cylinder being mounted fixed with respect to the upper spine piece 192 and the other of the piston and cylinder being mounted fixed with respect to the lower spine piece 191. The piston and cylinder delimit a chamber containing air under pressure (that is to say, the pressure of which is greater than atmospheric pressure). Upon axial displacement of the upper spine piece 192 relative to the lower spine piece 191 tending to compress the spine, the air in the chamber is compressed by the spine.

piston. As a result, the compressed air exerts on the piston the return force tending to oppose the compression of the spine. The stiffness of the elastic return member can be adjusted by varying the quantity of air present in the chamber and / or the volume of the chamber. It also allows the length of the spine mechanism to be adjusted according to the height of the user.

The back assembly 5 comprises a support part 51 on which can be fixed a load to be carried, for example a backpack, and a fifth ball joint 52.

The upper part of the spine 192 is connected to the support part 51 via the fifth ball joint 52. The fifth ball joint 52 allows on the one hand, a rotation of the back assembly 5 relative to the pelvis assembly. 2 during a lateral tilting movement of the user's shoulders relative to the spine. To this end, the fifth ball joint 52 allows rotation of the support part 51 relative to the upper spine part 192 about a fifth axis of rotation X5. The fifth axis of rotation X5 is horizontal and parallel to the sagittal plane of the user, when the user is in the anatomical reference position. Thus, the fifth axis of rotation X5 is parallel to the third axis of rotation X3 when the user is in the anatomical reference position.

The fifth ball joint 52 also allows a rotation of the back assembly 5 relative to the pelvis assembly 2 during a flexion / extension movement of the user's spine. To this end, the fifth ball joint 52 allows rotation of the support part 51 relative to the upper part of the spine 192 about a sixth axis of rotation X6. The sixth axis of rotation X6 is horizontal and perpendicular to the sagittal plane of the user, when the user is in the anatomical reference position.

Figures 3 and 4 illustrate the first pivot link in more detail

27, the second pivot link 28 and the third pivot link 29.

The first pivot link 27 comprises a first rotor 271 and a first stator 272. The first rotor 271 is fixedly mounted on the first.

hip piece 24. The first stator 272 is fixedly mounted on the pelvis piece 26.

The second pivot link 28 comprises a second rotor 281 and a second stator 282. The second rotor 281 is fixedly mounted on the second hip part 25. The second stator 282 is fixedly mounted on the pelvis part 26.

The third pivot link 29 comprises a third rotor 291 and a third stator 292. The third rotor 291 is fixedly mounted on the lower spine piece 191. The second stator 292 is fixedly mounted on the pelvis piece 26.

Furthermore, the exoskeleton structure 1 comprises a first member 12 capable of generating a first torque tending to oppose the rotation of the first rotor 271 relative to the first stator 272 during an abduction or adduction movement. of the first lower limb.

The exoskeleton structure 1 also comprises a second member 13 capable of generating a second torque tending to oppose the rotation of the second rotor 281 relative to the second stator 282 during an abduction or adduction movement of the second. inferior member.

The exoskeleton structure also comprises a third member 14 capable of generating a third torque tending to oppose the rotation of the third rotor 291 relative to the third stator 292 during the lateral tilting movement of the pelvis.

The first member 12, the second member 13 or the third member 14 can be an active member (that is to say an actuator requiring a supply of electrical energy to generate the first torque, such as an electric motor for example) or a passive member (that is to say which does not require an electrical power supply, such as a spring for example).

In the example illustrated in Figures 4 to 6, the third member 14 comprises one or more elastic return element (s) 141 connecting the back assembly 5 to the pelvis assembly. A rotation of the pelvis assembly 2 relative to the back assembly 5 causes a deformation of the elastic return element (s) 141, this deformation having the effect that the elastic return element 141 generates a return torque tending to oppose this rotation.

In the example illustrated in Figures 4 to 6, the elastic return element 141 comprises a spiral-shaped part 140 having a first end 142 (at the center of the spiral) connected to the pelvis assembly 2 and a second end 143 (away from the center of the spiral), opposite to the first end 142, connected to the spine mechanism 19. More precisely, the first end 142 is fixed to the third stator 292 and the second end 143 is fixed to the third rotor 291 .

FIG. 5 shows the elastic return element 141 when the user is in the anatomical reference position. In this position, the elastic return element 141 exerts no torque.

FIG. 6 shows the elastic return element 141 when the user tilts the spine laterally with respect to the pelvis. The spiral-shaped piece 140 is arranged so that a rotation of the back assembly 5 with respect to the pelvis assembly 2 in a first direction (arrow A) causes the spiral-shaped piece 140 to be wound up. , and the rotation of the back assembly 5 relative to the pelvis assembly 2 in a second direction (arrow B), opposite to the first direction, causes the part 140 to unwind in the form of a spiral.

Figures 7 to 9 illustrate in more detail the first pivot link 27.

In the example illustrated in Figures 7 to 9, the first member 12 comprises an elastic return element 121 connecting the first assembly of lower limb 3 to the pelvis assembly 2. A rotation of the first assembly of lower limb 3 relative to the pelvis assembly 2 causes a deformation of the elastic element 121, the deformation having the effect that the elastic return element 121 generates a return torque tending to oppose this rotation.

In the example illustrated in Figures 7 to 9, the elastic return element 121 comprises a spiral-shaped part 120 having a first end 122 (at the center of the spiral) connected to the basin assembly 2 and a second end 123 (away from the center of the spiral), opposite the first end 122, and suitable for being stressed by the first set of lower limbs 3 during a relative rotation of the pelvis assembly 2 with respect to the first set of lower limb 3. More precisely, the first end 122 is fixed to the first rotor 271, integral with the first hip piece 24.

FIG. 7 shows the elastic return element 121 when the user is in the anatomical reference position. In this position, the elastic return element 121 exerts no torque.

During an abduction or adduction movement of the first lower limb, the first lower limb assembly 3 is rotated relative to the pelvis assembly 2. This has the effect of deforming the elastic return element. 121 so that the elastic return element 121 generates a return torque tending to oppose this rotation.

The spiral-shaped piece 120 is arranged such that a rotation of the lower limb assembly 3 relative to the pelvis assembly 2 in a first direction of rotation corresponding to an adduction movement (arrow C) results in a winding of the spiral-shaped piece 120, and the rotation of the lower limb assembly 3 relative to the pelvis assembly 2 in a second direction corresponding to an abduction movement (arrow D), opposite to the first direction causes the part to unwind in the form of a spiral 120.

Furthermore, the exoskeleton structure 1 comprises a first stop 15 suitable for being fixed to the basin assembly 2 so that:

- In a first angular range of rotation of the first set of lower limbs 3 relative to the pelvis assembly 2, the elastic return member 121 abuts against the first stop 15 and exerts, via the first stop 15, on the first set of lower limbs 3 a return force tending to oppose the adduction movement of the lower limb, and

- In a second angular range, the elastic return member 121 is no longer in abutment against the first stop 15 and no longer exerts a return force on the lower limb assembly.

The first stop 15 may comprise a screw 151 fixed to the basin part 26 so that the end of the screw 151 urges the second end 123 of the spiral-shaped part 120 only in the first angular range.

The exoskeleton structure 1 further comprises adjustment means 16 allowing adjustment of the position of the first stopper 15 relative to the pelvis assembly 2. The adjustment means 16 comprise one or more fixed lumen (s) 161. relative to the basin part 26 and one or more pin (s) 162 slidably mounted inside the light (s) 161. More precisely, the adjustment means 16 comprise a first adjustment part 163 having a through orifice having an internal thread. The screw 151 is screwed into the hole. The pins 162 are fixedly mounted on the first adjustment part 163. The position of the first adjustment part 163 can be modified by sliding the pins 162 in the slots 161. The slots 161 can be made in the stator 272 of the first pivot link 27.

As illustrated in FIG. 9, the adjustment means 16 make it possible to modify the limit between the first and the second angular range, by adjusting the position of the adjustment part 163 relative to the pelvis assembly 2 and by adjusting the position of the screw 151 into the threaded hole.

The exoskeleton structure 1 further comprises a second stop 17 fixed to the first set of lower limbs 3 and suitable for stressing the elastic return member 121 so as to exert an elastic prestress on the elastic return member 121. The second stopper 17 can include a screw 171 fixed to the hip piece 24 so that the end of the screw 171 permanently urges the second end 123 of the spiral-shaped piece 120.

The exoskeleton structure 1 further comprises means 18 for adjusting the position of the second stop 17 relative to the first

lower limb assembly 3. The adjustment means 18 comprise a second adjustment part 183 mounted fixedly on the first hip part 24. The second adjustment part 183 has a through hole having an internal thread. The screw 171 is screwed into the hole.

As illustrated in FIG. 8, the adjustment means 18 make it possible to modify the prestress exerted on the elastic return member 121, by adjusting the position of the screw 171 in the threaded hole.

It should be noted that the second pivot connection 28 comprises parts similar to those of the first pivot connection 27, the parts of the second pivot connection 28 being arranged symmetrically with the parts of the first pivot connection 27 relative to the sagittal plane of the user. In particular, the exoskeleton structure 1 comprises a second elastic return member 131, arranged symmetrically to the first elastic return member 121, as well as a first stop and a second stop.

The elastic return member 131 includes a spiral-shaped piece 130 having a first end 132 (at the center of the spiral) connected to the pelvis assembly 2 and a second end 133 (away from the center of the spiral), opposite at the first end 132, and suitable for being stressed by the second assembly of lower limb 4 during a relative rotation of the pelvis assembly 2 with respect to the second assembly of lower limb 4. More precisely, the first end 132 is attached to the second rotor 281, integral with the second hip piece 25.

As illustrated in FIG. 10, the exoskeleton structure 1 further comprises adjustment means 30 allowing adjustment of the distance between the first axis of rotation X1 and the second axis of rotation X2.

In the example illustrated in FIG. 10, the adjustment means 30 comprise one or more light (s) 31 fixed relative to the stator 272 of the first pivot link 27, one or more light (s) 32 fixed relative to the stator 282 of the second pivot link 28, and one or more pin (s) 33 mounted fixed relative to the basin part 26. The pin (s) 33 is (are) mounted to slide inside the slots 31 and 32. More precisely, the adjustment means 30 comprise a first adjustment part 34 fixed to the first stator 272. The first adjustment part 34 has two horizontal slots 31. Likewise, the adjustment means 30 comprise a second adjustment part 35 fixed to the second stator 282. The second adjustment part 35 also has two horizontal slots 32. The adjustment means 30 comprise two first pins 33 fixed to the basin part 26, each of the first pins being able to slide inside a respective first slot 31 to move the first pivot link 27 relative to the assembly. basin 2 in a direction perpendicular to the axes X1 and X2. The adjustment means 30 comprise two second pins 33 fixed to the basin part 26, each of the second pins being able to slide inside a respective second slot 32 to move the second pivot link 28 relative to the assembly. basin 2 in a direction perpendicular to the axes X1 and X2. each of the first pins being able to slide inside a respective first slot 31 to move the first pivot connection 27 relative to the basin assembly 2 in a direction perpendicular to the axes X1 and X2. The adjustment means 30 comprise two second pins 33 fixed to the basin part 26, each of the second pins being able to slide inside a respective second slot 32 to move the second pivot link 28 relative to the assembly. basin 2 in a direction perpendicular to the axes X1 and X2. each of the first pins being able to slide inside a respective first slot 31 to move the first pivot connection 27 relative to the basin assembly 2 in a direction perpendicular to the axes X1 and X2. The adjustment means 30 comprise two second pins 33 fixed to the basin part 26, each of the second pins being able to slide inside a respective second slot 32 to move the second pivot link 28 relative to the assembly. basin 2 in a direction perpendicular to the axes X1 and X2.

The adjustment means 30 thus make it possible to adjust the distance between the axes of rotation X1 and X2, so that these axes are aligned with the femoral heads of the user, so as to correspond to the axes of abduction / adduction of the user's hips.

Finally, the exoskeleton structure 1 can also include damping devices arranged in parallel with the pivot links 27, 28, 29, 193 and the ball joint 52 to damp the movement of the different parts relative to each other. In the case where the members 12, 13 and 14 are active members, such as electric motors for example, these members can play the role of damping devices for the pivot links 27, 28 and 29.

In operation, when the user walks, the user alternately leans on his first lower limb (right leg) and on his second lower limb (left leg), which causes a slight oscillation of the spine mechanism 19 with respect to to the whole basin 2.

During a first phase of the walking cycle, when the user presses on his first lower limb (right leg), the load generated by the weight of the backpack has the effect of lowering the pelvis on the left side. The lower spine piece 191 therefore tends to pivot relative to the pelvis piece 26, in the first direction of rotation (arrow A), about the third axis of rotation X3.

The rotation of the lower spine piece 191 in the first direction has the effect of deforming the third elastic return member 141, which generates a torque tending to cause the pelvis assembly 2 to rotate relative to the first lower limb assembly. 3 (in the direction of arrow C) and relative to the second lower limb assembly 4.

The action of the first elastic return member 121 and of the second elastic return member 131 has the effect that all of the load or part of the load generated by the weight of the backpack exerted on the back assembly 5 is transferred by the first elastic return member 121 to the first lower limb assembly 3 via the first hip piece 24 and the first hip joint 8.

Conversely, the fraction of the load transmitted to the second set of lower limbs 4 is greatly reduced, which allows the user to be able to lift his second lower limb from the ground without exerting excessive force.

During a second phase of the walking cycle, when the user presses on his second lower limb (left leg), the load generated by the weight of the backpack has the effect of lowering the pelvis on the right side. The lower spine piece 191 tends to pivot relative to the pelvis piece 26, in the second direction of rotation (arrow B), opposite to the first direction of rotation, around the third axis of rotation X3.

The rotation of the lower spine piece 191 in the second direction has the effect of deforming the third elastic return member 121, which generates a torque tending to cause the pelvis assembly 2 to rotate relative to the first lower limb assembly. 3 (in the direction of arrow D) and with respect to the second lower limb assembly 4, in the reverse direction.

The action of the first elastic return member 121 and the second elastic return member 131 has the effect that all of the load or part of the load generated by the weight of the backpack exerted on the back assembly 5 is transferred by the second elastic return member 131 to the second lower limb assembly 4 via the second hip piece 25 and the second hip joint 9.

Conversely, the fraction of the load transmitted to the first set of lower limbs 3 is greatly reduced, which allows the user to be able to lift his first lower limb from the ground without exerting excessive force.

During the walking cycle, the load is thus transferred alternately to the first set of lower limbs 3 and to the second set of lower limbs 4, without passing through the user's pelvis. The torque resulting from the deformation of the elastic return members 121 and 131 makes it possible to support the load on the side of the contact with the ground, while the opposite side is released from the load.

Thanks to the arrangement of the three pivot links and the elastic return members, the load is always transferred to the lower limb assembly which is in contact with the ground. The other lower limb assembly only supports a small fraction of the load so that the user can easily lift the corresponding lower limb.

Furthermore, when the user is standing still, in the anatomical reference position, the first set of lower limbs 3 and the second set of lower limbs 4 of the exoskeleton structure 1 are simultaneously in contact with the ground. In this position, the proposed exoskeleton structure 1 makes it possible to share the load generated by the weight of the backpack by distributing it equally over the two sets of lower limbs.

CLAIMS

1. Exoskeleton structure (1) comprising:

- a pelvis assembly (2) comprising a belt (21) suitable for surrounding the pelvis of a user to attach the pelvis assembly (2) to the user's pelvis,

- a first set of lower limbs (3) suitable for being fixed to a first lower limb of the user,

- a first pivot link (27) connecting the first set of lower limbs (3) to the pelvis assembly (2), the first pivot link (27) allowing rotation of the first set of lower limbs (3) relative to the pelvis assembly (2) during an abduction or adduction movement of the first lower limb,

- a second set of lower limbs (4) suitable for being fixed to a second lower limb of the user,

- a second pivot link (28) connecting the second lower limb assembly (4) to the pelvis assembly (2), the second pivot link (28) allowing rotation of the second lower limb assembly (4) relative to the pelvis assembly (2) during an abduction or adduction movement of the second lower limb,

- a back assembly (5) comprising a harness (53) suitable for being attached to the user's thorax,

- a spine mechanism (19) connecting the back assembly (5) to the pelvis assembly (2),

- a third pivot connection (29) connecting the spine mechanism (19) to the pelvis assembly (2), the third pivot connection (29) allowing rotation of the pelvis assembly (2) relative to the 'back assembly (5), during a relative tilting movement of the user's spine relative to the user's pelvis,

- a third member (14) suitable for generating a third torque tending to oppose the rotation of the pelvis assembly relative to the back assembly (5) during the relative lateral inclination movement of the spine relative to to the pelvis, and

wherein the spine mechanism (19) comprises a fourth pivot link (193) allowing rotation of the back assembly (5) relative to the pelvis assembly (2), upon a twisting movement of the spine.

2. Exoskeleton structure according to claim 1, comprising a first member (12) adapted to generate a first torque tending to oppose the rotation of the first set of lower limbs (3) relative to the pelvis assembly ( 2) during an adduction movement of the first lower limb.

3. Exoskeleton structure according to one of claims 1 and 2, comprising a second member (13) adapted to generate a second torque tending to oppose the rotation of the second set of lower limbs (4) relative to the 'pelvis assembly (2) during an adduction movement of the second lower limb.

4. Exoskeleton structure according to one of claims 2 and 3, wherein the first member (12) or the second member (13) or the third member (14) comprises an elastic return element (121, 131, 141 ) between the first lower limb assembly (3) or the second lower limb assembly (4) or the back assembly (5) and the pelvis assembly (2), the elastic return element (121, 131 , 141) generating a restoring force tending to oppose the rotation of the first set of lower limbs (3) or of the second set of lower limbs (4) or of the back assembly (5) with respect to the basin set (2).

5. An exoskeleton structure according to claim 4, wherein the elastic return element (121, 131, 141) comprises a spiral-shaped piece (120, 130, 140) having a first end (122, 132, 142). ) connected to the pelvis assembly (2) and a second end (123, 133, 143), opposite the first end, suitable for being acted upon by the first set of lower limbs (3) or the second set of limbs

lower limb (4) or the back assembly (5) when rotating the first lower limb assembly (3) or the second lower limb assembly (4) or the back assembly (5) relative to the 'basin set (2).

6. Exoskeleton structure according to one of claims 4 and 5, comprising a first stop (15) adapted to be fixed to the basin assembly (2) so that in a first angular range of rotation of the first assembly of lower limb (3) or of the second set of lower limbs (4) relative to the pelvis assembly (2), the elastic return element (121, 131) abuts against the first stop and exerts, via the first stopper, on the first set of lower limb (3) or the second set of lower limb (4) a restoring force tending to oppose the adduction movement of the lower limb, and in a second angular range, the elastic return element (121, 131) is no longer in abutment against the first stop and no longer exerts a return force on the lower limb assembly (3, 4).

7. An exoskeleton structure according to claim 6, comprising means (16) for adjusting the position of the first stop (15) relative to the pelvis assembly (2) making it possible to adjust a transition angle between the stopper (15). first angular range and the second angular range.

8. An exoskeleton structure according to claim 7, wherein the means for adjusting the position of the first stop (16) comprise a lumen (161) and a pin (162) slidably mounted inside the lumen.

9. Exoskeleton structure according to one of claims 4 to 7, comprising a second stop (17) fixed on the lower limb assembly (3, 4) and suitable for stressing the elastic return element (121, 131). ) to exert an elastic prestress on the elastic return element.

10. An exoskeleton structure according to claim 9, comprising means for adjusting the position of the second stopper (18) relative to the lower limb assembly (3, 4).

The exoskeleton structure according to one of claims 1 to 10, wherein the spine mechanism (19) comprises a lower spine piece (191) connected to the pelvis assembly via the third pivot link (29). ) and an upper spine piece (192) connected to the back assembly (5) via a fifth ball joint allowing rotation of the back assembly (5) relative to the spine mechanism (19) during 'a lateral tilting movement and during a flexion / extension movement of the user's spine.

12. An exoskeleton structure according to claim 11, wherein the upper spine piece (192) is able to slide longitudinally relative to the lower spine piece (191), the spine mechanism (19) comprising in in addition to an elastic return member capable of generating an elastic return force tending to oppose the sliding of the upper part of the spine (192) relative to the lower part of the spine (191) during a vertical compression of the user's spine.

13. Exoskeleton structure according to claim 12, wherein the elastic return member comprises a cylinder and a piston capable of sliding inside the cylinder, one of the piston and of the cylinder being mounted fixed relative to the cylinder. upper spine piece (192) and the other of the piston and cylinder being mounted fixed with respect to the lower spine piece (191).

14. Exoskeleton structure according to one of claims 11 to 13, wherein the upper part of the spine (192) is connected to the lower part of the spine (191) by the fourth pivot connection (193) allowing rotation. of the upper spine piece (192) relative to the lower spine piece (191) about a longitudinal axis of the spine mechanism (19) during torsional movement of the user's spine.

15. Exoskeleton structure according to one of claims 1 to 14, comprising adjustment means (30) allowing adjustment of a distance between the first pivot connection (27) and the second pivot connection (28).

16. Exoskeleton structure according to claim 15, wherein the adjustment means (30) comprise one or more lumen (s) (31, 32) and one or more pin (s) (33) slidably mounted (s) ( s) inside the lumen (s) (31, 32).