The effort to support exoskeletons are mechanical structures positioned in parallel of the human skeleton and that improve the physical capabilities of the human body.

There are different types of exoskeletons, the shape and structure depend on the tasks by the user. The two main types of exoskeletons are those for assisting the user movements on the one hand, and those for the proliferation of the other user's force capabilities.

In the case of exoskeletons for assisting movement of the user, the user must typically carry the structure of the exoskeleton since it is disposed on the body, which has the effect of limiting the freedom of movement of the user and to generate an additional burden and associated fatigue.

To relieve the user are known exoskeletal structures in which a part of the mass of the exoskeleton is transferred to the ground via the plates disposed beneath the feet of the user and connected to the rest of the structure.

In these structures, the user's feet are not in contact with the ground, which makes uncomfortable structure.

In addition, due to the presence of the plates, the mobility of the user is necessarily reduced. Indeed, to ensure transfer of the mass of the exoskeleton to the ground, these structures do not generally allow full rotation or pronation and supination of the ankle of the user.

This means that this type of structure does not provide support on the ground in all market phases and / or on all types of soils, especially when the user walks on a floor sloping or uneven.

SUMMARY OF THE INVENTION

An object of the invention is to propose a solution to relieve the load it carries user, whether the load generated by the exoskeleton structure itself, by external elements can be associated with the structure of the exoskeleton (eg backpack) or the same weight of the user, while providing increased comfort and better mobility.

This object is achieved in the context of the present invention by a subset of exoskeleton comprising:

- a first part of the exoskeleton,

- a second part of the exoskeleton,

- a linkage assembly linking the first part of the exoskeleton to the second part of the exoskeleton, said linkage assembly comprising a stationary mounted guide with respect to one of the first piece and the second piece, and a pin mounted fixed relative to the other of the first part and the second part, the pin being slidably mounted inside the guide between a first end position and a second end position.

The linkage assembly further includes a limiting device arranged to allow rotation of the pin relative to the guide when the pin is in the first end position and to oppose the rotation of the pin relative to the guide when the counter is in the second end position.

The limitation device comprises an elastic element with which the first part exoskeletal engages when the pin is in the second end position, the resilient member exerting on the first part exoskeletal an elastic restoring force tending to oppose relative rotation between the first part of the exoskeleton and the second part of the exoskeleton.

Such a subset of exoskeleton can be used so that:

- if the sub-assembly is not loaded, the pin is in the first end position, the limiting device allowing a relative rotation between the first part of the exoskeleton and the second part of the exoskeleton, allowing freedom of movement between the two parts,

- if the sub-assembly is loaded, the pin is in the second end position, the limiting device opposing a relative rotation between the first part of the exoskeleton and the second part of the exoskeleton, allowing transfer of force between the first part and the second part.

When the pin is in the second position, the limiting device precludes a relative rotation between the first part and the second part via the elastic member. Therefore, the limiting device allows a certain rotation between the first part and the second part while generating a restoring force opposing this movement in order to ensure the transfer of force between the first part and the second piece. This feature gives the user a greater comfort during movement.

One of the first part of the exoskeleton and the second part exoskeletal is for example a clean room to be secured to a user's leg and the other of the first part of the exoskeleton and the second part exoskeletal is a clean room to be fixed at the foot of the user.

The connecting assembly between the two parts of the exoskeleton is then placed in parallel to the ankle joint of the user.

During the gait cycle, the pin is reciprocated from the first position to the second position (when the user places his foot on the ground: loading) and the second position to the first position (when the user lifts the foot of floor: unloading).

When the pin is in the first end position (the fly), the link assembly permits rotation of the second part relative to the first component caused by movement of the foot relative to the user's leg .

When the pin is in the second end position (foot resting on the ground), the link assembly opposes the rotation of the second part relative to the first part, so as to transfer the load supported by the exoskeleton to the ground and to bear all or part of the torque exerted on the ankle of the user.

In a first embodiment of the invention, the link assembly is disposed between the first part of the exoskeleton and the second part exoskeletal so that, when the pin is in the first end position, 'linkage assembly allows rotation of the second part of the exoskeleton relative to the first part of the exoskeleton caused by a flexion / extension movement of the foot relative to the leg.

In a second embodiment, the link assembly is disposed between the first part of the exoskeleton and the second part exoskeletal so that, when the pin is in the first end position, the linkage assembly permits rotation of the second part of the exoskeleton relative to the first part of the exoskeleton caused by a movement of eversion / inversion of the foot relative to the leg.

The subset of exoskeleton can also have the following characteristics:

- the guide comprises an oblong aperture formed in the first part of the exoskeleton,

- the pin has a cylindrical shape of revolution,

- the elastic element is disposed between the two parts of the exoskeleton,

- when the pin is in the second end position, the elastic member exerts a restoring force tending to resist relative rotation between the first part of the exoskeleton and the second part exoskeletal both in a first rotation in a second rotational direction, opposite the first direction of rotation,

- the elastic element is mounted stationary relative to the second part of the exoskeleton,

- the elastic element is a block of elastic material,

- the first part exoskeletal has a projection, and the spring element has a recess into which the projection is received when the pin is in the second end position,

- the projection has a shape complementary to the shape of the recess,

- the projection has a general shape of a tip and the recess has a generally V-shaped,

- the first part exoskeletal has a recess, and the resilient element has a bulge own to be received in the recess when the pin is in the second end position,

- the elastic element has one or more portion (s) suitable for being compressed between the two parts exoskeletal when the pin is in the second end position, in case of relative rotation between the first part and the exoskeletal second part of the exoskeleton,

- the elastic member comprises a spring arranged to exert a return force on the other part of the exoskeleton, the restoring force exerted by the spring opposing the rotation of the pin relative to the guide when the pin is in the second end position,

- the spring comprises one or more blade (s) flexible (s), each blade having one end fixed to one of the two parts of the exoskeleton, the one or more blade (s) being disposed (s) so that the rotation of the pin relative to the guide causes the other part of the exoskeleton solicits or blade (s) in flexion.

The invention further relates to an exoskeleton structure including a subassembly as defined above.

PRESENTATION OF DRAWINGS

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

- Figure 1 shows schematically, in front view, a user equipped with an exoskeletal structure,

- Figure 2 schematically represents a subset of the exoskeleton structure according to a first embodiment of the invention,

- Figure 3 schematically shows a subset of the exoskeleton structure according to a second embodiment of the invention,

- Figures 4A and 4B show schematically a first example of connection assembly when the pin is in the first end position and when the pin is in the second end position respectively,

- Figures 5A and 5B schematically show a second example of linkage assembly when the pin is in the first end position and when the pin is in the second end position respectively,

- Figure 6 schematically shows a third example of linkage assembly,

- Figures 7A and 7B schematically show the third example of linkage assembly when the pin is in the first end position and when the pin is in the second end position respectively.

DETAILED DESCRIPTION OF AN EMBODIMENT

In Figure 1, the exoskeletal structure 1 shown comprises a waist belt 2, a first mechanical assembly 3 and a second mechanical assembly 4.

The waist belt 2 is arranged to surround the bottom of the user's trunk. The first mechanical assembly 3 is adapted to be connected to a first leg of the user (right leg) to assist the movement of the first leg when walking or running. The second mechanical assembly 4 is adapted to be connected to a second leg of the user (left leg) to assist the movement of the second lower limb when walking or running. The first mechanical assembly 3 and the second mechanical assembly 4 are each connected to the waist belt 2.

The first mechanical assembly 3 includes a first femoral component 31, a first tibial component 32, and a first foot part 33.

The first femoral component 31 includes a first segment 31 femoral 1 Intended to extend along a first leg (right thigh) of the user and fastening straps 312 adapted to surround the first user's thigh to fix the femoral segment 31 1 to the first leg.

The first tibial component 32 includes a first tibial segment 321 provided to extend along a first calf (right calf) of the user and fastening straps 322 adapted to surround the first calf of the user to secure the tibial segment 321 in the first leg.

The first foot part 33 is fixed to a first shoe 5 of the user, for example a sole 51 of the shoe 5. The first foot part 33 can be attached to the sole 51 by means of screws.

The first segment femoral 31 1 comprises a first end 313 connected to the waist belt 2 through a first hip joint 34 and a second end 314 connected to the first tibial segment 321 through a first knee joint 35 .

The first tibial segment 321 includes a first end 323 connected to the first segment femoral January 31 by the first knee joint 35 and a second end 324 connected to the first foot part 33 through a first pin joint 36.

The second mechanical assembly 4 is symmetrical to the first mechanical assembly 3.

The second mechanical assembly 4 also comprises a second femoral component 41, a second tibial component 42 and a second stem part 43.

The second femoral component 41 includes a second femoral segment 41 1 adapted to extend along a second leg (left leg) of the user and fastening straps 412 adapted to surround the second user's thigh to fix the femoral segment 41 1 to the second thigh.

The second tibial component 42 includes a tibial second segment 421 arranged to extend along a second calf (left calf) of the user and fastening straps 422 adapted to surround the second calf of the user to secure the tibial segment 421 to the second leg.

The second foot part 43 is attached to a second shoe 7 of the user, for example a sole 71 of shoe 7. The second stem part 43 can be attached to the sole 71 by means of screws.

The second segment femoral 41 1 includes a first end 413 connected to the waist belt 2 through a second hip joint 44 and a second end 414 connected to the second tibial segment 421 through a second knee joint 45 .

The second tibial segment 421 includes a first end 423 connected to the second femoral segment 41 1 by the second knee joint 45 and a second end 424 connected to the second stem part 43 via a second articulation pin 46.

hip joints 34, 44 and knee joints 35, 45 may include actuators to assist the user during a flexion movement or extension of the hip or knee.

2 shows in more detail an ankle joint 36 according to a first embodiment of the invention.

In this first embodiment, the ankle joint 36 is provided for allowing a flexion / extension movement of the foot relative to the leg of the user.

In other words, the ankle joint 36 permits rotation of the tibial component 32 with respect to the foot part 33 about an axis of rotation X parallel to an axis of flexion / extension of the ankle when the tibial component 32 is attached to the leg and the foot part 33 is fixed to the foot of the user.

3 shows in more detail an ankle joint 36 according to a second embodiment of the invention.

In this second embodiment, the ankle joint 36 is provided to allow a movement of eversion / inversion of the wearer's foot relative to the leg.

In other words, the ankle joint 36 permits rotation of the tibial component 32 with respect to the foot portion 33 around a rotation axis Y, parallel to an axis eversion / inversion of the ankle when the tibial component 32 is attached to the leg and the foot part 33 is fixed to the foot of the user.

4A and 4B illustrate in greater detail the first ankle joint 36 according to a first exemplary embodiment. It should be noted that the second joint pin 46 is identical to the first ankle joint 36.

The ankle joint 36 includes a linkage assembly 60 connecting the tibial component 32 to a foot part 33.

The linkage assembly 60 comprises a guide 61 fixedly mounted relative to the tibial component 32, and a pin 62 mounted fixed relative to the foot part 33. The pin 62 is slidably mounted within the guide 61 between a first end position (shown in Figure 4A) and a second end position (shown in Figure 4B).

The guide 61 comprises an oblong slot 63 formed in the tibial component 32. The pin 62 extends through the oblong aperture 63. The pin 62 has a cylindrical shape of revolution having an axis of revolution.

In this manner, the pin 62 can both be displaced relative to the guide 61, and pivot relative to the guide 61 about an axis of rotation X (equal to the axis of revolution of the pin) and perpendicular to the direction Z translation of the pin 62 relative to the guide 61. Rotation t the translation of the pin 62 relative to guide 61 are independent.

The rotation axis X is an axis of rotation parallel to the axis of flexion / extension of the ankle according to the first embodiment illustrated in Figure 2.

However, the axis of rotation could also be the axis of rotation Y, parallel to the axis eversion / inversion of the ankle according to the second embodiment illustrated in Figure 3.

The linkage assembly 60 further comprises a limiting device 64 arranged to allow a rotation of the pin 62 relative to guide 61 when the pin 62 is in the first end position (Figure 4A), and limiting rotation of the pin 62 relative to guide 61 when the pin 62 is in the second end position (Figure 4B).

The limiting device 64 includes a resilient member 65 fixedly mounted on the stem part 33. The elastic member 65 is fixedly mounted on the foot part 33 for example by means of plates 66 disposed on either side of the elastic element 65 and referred to on the stem part 33. the elastic member 65 is held clamped between the two plates 66.

The elastic member 65 is for example a block of elastic material such as rubber.

The elastic member 65 includes a recess 67 having a general shape of a V. The recess 67 has an opening angle between 20 and 150 degrees, preferably between 30 and 40 degrees.

The limiting device 60 further comprises a projection 68 fixedly mounted on the tibial component 32. The protrusion 68 may be fixedly mounted on the tibial component 32 via the pin 62.

In the first example illustrated in Figures 4A and 4B, the projection 68 has a shape complementary to the shape of the recess 67. More specifically, the projection 68 has a general shape of tip.

The projection 68 is adapted to be engaged with the elastic member 67 when the pin 62 is in the second end position (Figure 4B).

More specifically, when the pin 62 is in the second end position (Figure 4B), the protrusion 68 is received in the recess 67 of the elastic member 65, which has the effect of limiting rotation of the pin 62 by relative to the guide 61.

When the user walks, the operation of the ankle joint 36 is as follows.

During the gait cycle, the foot of the user successively moves from a stance phase (that is to say, a phase during which the user's foot rests on the ground) in a phase oscillation (that is to say, a phase during which the foot of the user is no longer in contact with the ground).

La phase d'appui, the charge in the s'exerçant exosquelette gender in the ensemble mécanique 3 a force F here for bend solliciter the tibial piece 32 vers le bas, and for his solliciter of the pion 62 of 'articulation of cheville 36 towards the second position of extrémité (figure 4B).

In this second end position, the rotation of the pin 62 relative to guide 61 is limited. Indeed, the projection 68 is engaged with the resilient member 65. The resilient member 65 then exerts on the tibial component 32 an elastic restoring force opposing relative rotation between the tibial component 32 and the foot portion 33, both in a first direction of rotation, in a second rotational direction opposite the first direction of rotation. By limiting the movement of the protrusion 68, the elastic member 65 limit the rotational movement of the tibial component 32 with respect to the foot part 33.

In this position, the load exerted on the exoskeleton is transferred from the tibial component 32 to the stem part 33. This charge is transferred from the foot part 33 to the shoe 5 and therefore the ground.

During the swing phase, the load on the exoskeleton is mainly transferred to the ground via another mechanical assembly 4. In addition, the shoe 5 is no longer in contact with the ground and the weight of P the shoe 5 biases the foot part 33 downwards. The weight P therefore biases the pin 62 of the joint pin 46 toward the first end position (Figure 4A).

In this first end position, the projection 68 is no longer in engagement with the elastic member 65. The elastic member 65 thus limit more the rotational movement of the tibial component 32 with respect to the foot part 33 . the limiting device 60 allows rotation of the stem part 33 relative to the tibial part 32, thereby allowing freedom of movement of the user.

In this first position, no charge is transferred from the tibial component 32 to the stem part 33.

5A and 5B illustrate in greater detail the first ankle joint 36 according to a second exemplary embodiment.

In this second example, the limiting device 64 comprises two spring elements 65 fixed mounted on the stem part 33. Each elastic member is a leaf spring.

The leaf springs are disposed on either side of the projection 68 in a V

Each leaf spring 65 comprises a plurality of flexible strips 69 arranged parallel to each other. The blades may be formed of metal, such as steel for example.

Each blade 69 has a first end attached to the stem part 33 and a second free end. The flexible blades 69 are of different lengths so as to provide the spring a stepped flexibility. The blades 69 of the same spring 65 are arranged side by side of the largest to the smallest, so that when the pin 62 is in the second end position (Figure 5B), the projection 68 contacts the blades of greater length.

More specifically, when the pin 62 is in the second end position (Figure 5B), the projection 68 is received between the two elastic members 65, which has the effect of biasing the blades 69 flex.

When they are stressed in bending, the blades 69 acting on the projection 68 an elastic return force tending to oppose a rotation of the pin 62 relative to the guide 61.

When the user walks, the operation of the ankle joint 36 is as follows.

During the stance phase, the load on the exoskeleton generates on the mechanics 3 a force F which operates to set to request the tibial component 32 down, and consequently urging the pin 62 of the ankle joint 36 to the second end position (Figure 5B).

In this second end position, the rotation of the pin 62 relative to guide 61 is possible but it is limited. Indeed, the projection 68 is in contact with the two elastic members 65. By opposing the movement of the protrusion 68, the elastic members 65 limit the rotational movement of the tibial component 32 with respect to the foot part 33.

In this position, the load exerted on the exoskeleton is transferred from the tibial component 32 to the stem part 33. This charge is transferred from the foot part 33 to the shoe 5 and therefore the ground.

During the swing phase, the load on the exoskeleton is mainly transferred to the ground via another mechanical assembly 4. In addition, the shoe 5 is no longer in contact with the ground and the weight of P the shoe 5 biases the foot part 33 downwards. The weight P therefore biases the pin 62 of the joint pin 46 toward the first end position (Figure 5A).

In this first end position, the projection 68 is no longer in contact with the elastic members 65. The elastic members 65 thus not preclude more like a rotation of the tibial component 32 with respect to the foot part 33. the limiting device 60 allows rotation of the stem part 33 relative to the tibial part 32, thereby allowing freedom of movement of the user.

Figure 6 illustrates the first ankle joint 36 according to a third exemplary embodiment. Note that the

second ankle joint 46 is identical to the first ankle joint 36.

The ankle joint 36 includes a linkage assembly 60 connecting the tibial component 32 to the foot part 33.

The linkage assembly 60 comprises a guide 61 fixedly mounted relative to the tibial component 32, and a pin 62 mounted fixed relative to the foot part 33. The pin 62 is slidably mounted within the guide 61 between a first end position (shown in FIG 7A) and a second end position (shown in Figure 7B).

To this end, the link assembly 60 comprises two plates 66, disposed on either side of the tibial component 32. The two plates 66 are fixed to the tibial component 32 by the fixing screw means 81 passing through the plates 66 and the tibial component 32.

The guide 61 comprises an oblong slot 63 formed in one of the plates 66 or preferably in both plates 66.

The pin 62 is fixed to a tongue 82 of the stem part 33 extending between the two plates 66.

The pin 62 extends through the oblong aperture 63. The pin 62 has a cylindrical shape of revolution having an axis of revolution. In this manner, the pin 62 can both be displaced relative to the guide 61, and pivot relative to the guide 61 along an axis Y of rotation (equal to the axis of revolution of the pin) and perpendicular to the direction Z translation of the pin 62 relative to the guide 61.

The rotation axis Y is an axis of rotation parallel to the axis eversion / inversion of the ankle according to the second embodiment illustrated in Figure 3.

However, the axis of rotation could also be the axis of rotation X parallel to the axis of flexion / extension of the ankle according to the first embodiment illustrated in Figure 2.

The linkage assembly 60 includes a limiting device 64 arranged to allow a rotation of the pin 62 relative to guide 61 when the pin 62 is in the first end position (Figure 7A), and limiting rotation of the pin 62 by relative to the guide 61 when the pin 62 is in the second end position (Figure 7B).

The limiting device 64 includes an elastic member 65 disposed between the tibial component 32 and the stem part 33. In the example illustrated in Figure 6, the elastic member 65 is fixedly mounted on the foot part 33. In this Indeed, the elastic member 65 has a shape which conforms to the tab 82 of the foot part.

The elastic member 65 is maintained between the tibial component 32 and the foot part 33 by means of plates 66 disposed on either side of the elastic member 65 and covered on the tibial component 32. The elastic member 65 may nevertheless slide between the two plates 66.

The elastic member 65 is for example a block of elastic material such as rubber.

The elastic member 65 comprises a central portion 83 and two lateral portions 84. The central portion 83 has a generally arcuate, whereas each side portion 84 has a generally straight shape, so as to impart to the elastic member 65 form a Ω in general.

The central portion 83 of the elastic member 65 thus forms a recess 85 facing towards the foot part 33. The recess 84 receives the tongue 82 of the foot part 33.

The central portion 83 of the elastic member 65 also forms a bulge 86 generally rounded, facing the tibia part 32.

The tibial component 32 further comprises a recess 87 positioned opposite the bulge 86 and adapted to receive the bulge 86 of the elastic member 65. In this manner, the tibial component 32 is adapted to be engaged with the elastic member 65, when the bulge 86 of the elastic member is received in the recess 87 (Figure 7B).

More specifically, when the pin 62 is in the second end position (Figure 7B), the bulge 86 of the elastic member 65 is received in the recess 87 of the tibial component 32, which has the effect of compressing the central portion 83 of the elastic member 65 between the workpiece

tibial 32 and the foot part 33 and restrict rotation of the pin 62 relative to the guide 61.

When the user walks, the operation of the ankle joint 36 is as follows.

During the gait cycle, the foot of the user successively moves from a stance phase (that is to say, a phase during which the user's foot rests on the ground) in a phase oscillation (that is to say, a phase during which the foot of the user is no longer in contact with the ground).

During the stance phase, the load on the exoskeleton generates on the mechanics 3 a force F which operates to set to request the tibial component 32 down, and consequently urging the pin 62 of the ankle joint 36 to the second end position (Figure 7B).

In this second end position, the rotation of the pin 62 relative to guide 61 is possible but it is limited. Indeed, the recess 87 of the tibial component 32 is engaged with the resilient member 65. The resilient member 65 then exerts on the tibial component 32 an elastic restoring force opposing relative rotation between the tibial component 32 and the foot part 33, both in a first direction of rotation, in a second rotational direction opposite the first direction of rotation.

In addition, the elastic member 65 is compressed between the tibial component 32 and the stem part 33. In this position, the tibial component 32 may rotate slightly relative to the stem part about the axis Y. However, two lateral portions 84 of the elastic member 65 limit the rotational movement of the tibia part with respect to the foot part. Indeed, by rotating, the tibial component 32 comes into contact with the side portions 84, these lateral portions 84 exerting a restoring force on the tibia part 32 tending to oppose the rotation of the tibial component 32 with respect to the stem part 33.

In this second end position, the load exerted on the exoskeleton is transferred from the tibial component 32 to the foot part 33. This charge is transferred from the stem part 33 to the shoe 5 and therefore to the floor .

During the swing phase, the load on the exoskeleton is mainly transferred to the ground via another mechanical assembly 4. In addition, the shoe 5 is no longer in contact with the ground and the weight of P the shoe 5 biases the foot part 33 downwards. The weight P therefore biases the pin 62 of the joint pin 46 toward the first end position (Figure 7A).

In this first end position, the recess 87 of the tibial component 32 is no longer in engagement with the elastic member 65. The elastic member 65 thus limit more the rotational movement of the tibial component 32 with respect to the stem part 33. the limiting device 60 allows free rotation of the foot part 33 relative to the tibial part 32, thereby allowing freedom of movement of the user.

In this first position, no charge is transferred from the tibial component 32 to the stem part 33.

CLAIMS

1. Subset exoskeleton including:

- a first part of the exoskeleton (32),

- a second part of the exoskeleton (33),

- a linkage assembly (60) connecting the first part of the exoskeleton (32) to the second part of the exoskeleton (33), said linkage assembly (60) comprising a guide (61) mounted stationary relative to the one of the first piece (32) and the second part (33) and a pin (62) mounted stationary relative to the other of the first part (32) and the second part (33), the pin ( 62) being slidably mounted within the guide (61) between a first end position and a second end position,

wherein said linkage assembly (60) further comprises a limiting device (64) arranged to allow a rotation of the pin (62) relative to the guide (61) when the pin (62) is in the first position end, and to oppose the rotation of the pin (62) relative to the guide (61) when the pin (62) is in the second end position,

the limiting device (64) comprising an elastic member (65) with which the first part of the exoskeleton (32) engages when the pin (62) is in the second end position, the spring element (65) exerted on the first part of the exoskeleton (33) an elastic return force tending to oppose relative rotation between the first part of the exoskeleton (33) and the second part of the exoskeleton (32).

2. Subset exoskeleton as claimed in claim 1, wherein the guide (61) comprises an oblong slot (63) in the first part of the exoskeleton (32).

3. Subset exoskeleton according to one of claims 1 and 2, wherein the pin (62) has a cylindrical shape of revolution.

4. A subassembly according to one of Claims 1 to 3, wherein the elastic member (65) is arranged between the two parts of the exoskeleton (32, 33).

5. Subassembly exoskeleton according to any of claims 1 to 4, wherein when the pin (62) is in the second end position, the spring element (65) exerts a restoring force tending to oppose relative rotation between the first part of the exoskeleton (33) and the second part of the exoskeleton (32) both in a first direction of rotation in a second rotational direction, opposite the first direction of rotation.

6. Subassembly exoskeleton according to any of claims 1 to 5, wherein the elastic member (65) is mounted stationary relative to the second part of the exoskeleton (33).

7. The subassembly of exoskeleton according to any of claims 1 to 6, wherein the elastic member (65) is a block of elastic material.

8. Subassembly exoskeleton according to any of claims 1 to 7, wherein the first part of the exoskeleton (32) has a projection (66) and the spring element (65) has a recess (67) wherein the projection (66) is received when the pin (62) is in the second end position.

9. The subassembly of the exoskeleton of claim 8, wherein the projection (66) has a shape complementary to the shape of the recess (67).

10. A subassembly exoskeletal according to one of Claims 8 and 9, wherein the projection (66) has a general shape of a tip and the recess (67) has a general V-shape

11. A subassembly exoskeleton according to any of claims 1 to 7, wherein the first part of the exoskeleton (32) has a recess (87), and the elastic member (65) has a bulge (86) adapted to be received in the recess (87) when the pin (62) is in the second end position.

12. A subassembly exoskeleton according to any of claims 1-1 1, wherein the elastic member (65) has one or more portion (s) (84) adapted to be compressed between the two parts exoskeletal (32, 33) when the pin (62) is in the second end position, in case of relative rotation between the first part of the exoskeleton (32) and the second part of the exoskeleton (33).

13. A subassembly exoskeleton according to any of claims 1 to 7, wherein the resilient member (65) comprises a spring arranged to exert a return force on the other part of the exoskeleton (32), the restoring force exerted by the spring opposing the rotation of the pin (62) relative to the guide (61) when the pin (62) is in the second end position.

14. A subassembly exoskeleton of claim 13, wherein the spring comprises one or more blade (s) hose (s) (69), each blade (69) having one end fixed to one of the two parts exoskeleton (33), the one or more blade (s) (69) being arranged (s) so that rotation of the pin (62) relative to the guide (61) has the effect that the other part of the exoskeleton ( 32) biases the at least one blade (s) (69) in flexion.

15. A subassembly exoskeleton according to any of claims 1 to 14, wherein one of the first part of the exoskeleton (32) and the second part of the exoskeleton (33) is a clean room to be attached to a leg of a user and the other of the first part of the exoskeleton (32) and the second part of the exoskeleton (33) is a clean room to be secured to a foot of the user, the linkage assembly (60) permitting relative rotation between the second part of the exoskeleton (33) and the first part of the exoskeleton (32) caused by a movement of eversion / inversion of the foot

with respect to the leg or by a flexion / extension movement of the foot relative to the leg.

16. exoskeleton structure comprising an exoskeleton subassembly according to any one of claims 1 to 15.