A subset of exoskeleton and an exoskeleton structure including such a subset.

STATE OF THE ART

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 user's force capabilities, on the other.

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. Furthermore, in order to ensure a transfer of the mass of the exoskeleton to the ground, these structures do not generally allow full rotation of the foot of the user, and in particular an internal rotation / external foot the user relative to his leg.

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 the exoskeleton structure (e.g., a backpack) or the same weight of the user if the latter is carried by the structure, while having improved comfort and better mobility.

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

- a clean leg portion to be attached to a leg of a user, and

- part of own foot to be attached to a user's shoe,

wherein the leg portion comprises a tibial segment extending below the knee, along the user's tibia, when the leg portion is attached to the leg, the tibial segment comprising a first part (or top piece) a second part (or bottom piece) connected to the foot portion, and a first hinge connecting the second part to the first part, the first joint allowing rotation of the second part relative to the first component caused by a rotational movement internal / external user's foot relative to the leg, and wherein the foot part comprises an intermediate part connected to the second part of the leg portion, a piece of clean fastener to be fixed to the shoe theuser and a third hinge connecting the intermediate part to the attachment part, the third joint allowing rotation of the attachment member relative to the intermediate part caused by a movement of eversion / inversion of the foot of the user by relative to the leg.

The invention is based on the observation that, in the human body, internal / external rotation movement of the foot is not only due to the contribution of the ankle but also the contributions of other joints, including the knee and hip.

Thus, in the subset of exoskeleton proposed, the tibial segment extending along the user's tibia is formed in two parts, the first joint being disposed between these two parts and permitting the internal rotation / external of the wearer's foot.

This provision of the first articulation between the knee and the user's ankle allows the subassembly exoskeletal to adapt to the internal rotation / external foot of the wearer, thereby improving the comfort and mobility of the latter.

Furthermore, the third articulation allows the subassembly exoskeletal to adapt to the movements of eversion / inversion of the foot of the user, thus increasing the degrees of freedom allowed and also helping to improve the comfort and mobility of this last.

The subset can also have the following characteristics:

- the sub-assembly includes a second hinge connecting the second part to the foot part, the second hinge allowing rotation of the foot portion relative to the leg portion caused by a flexion / extension movement of the foot of the user,

- the first hinge allows rotation of the second part relative to the first part about a first rotation axis and the second hinge allows rotation of the foot portion relative to the second part about a second axis of rotation and the first axis of rotation and the second axis of rotation are mutually orthogonal,

- the attachment part comprises two fixing arms for fixing the attachment part on the boot, the fixing arms permitting flexing of the sole of the boot along two lines of non-parallel folds,

- the attachment part has slots in which can be inserted the fixing pins to fix the attachment part on the shoe.

The invention also relates to an exoskeletal structure comprising at least a subset of exoskeleton 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 exoskeleton structure according to one embodiment of the invention,

- Figure 2 schematically shows, in perspective, a subset of the exoskeleton structure of Figure 1,

- Figure 3 schematically shows, in side view, a subset of the exoskeleton structure of Figure 1,

- Figure 4 schematically shows, in perspective, a variant of the attachment part of the subset of the exoskeleton structure of Figure 1,

- Figures 5A to 5C schematically illustrate a locking device for locking the attachment part on a shoe.

DETAILED DESCRIPTION OF AN EMBODIMENT

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

The lap 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 (the right lower limb) 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 (the left lower limb) to assist the movement of the second lower limb when walking or

of the race. The first mechanical assembly 3 and the second mechanical assembly 4 are each connected to the waist belt 2.

The first mechanical assembly 3 comprises a first portion of thigh 31, a first leg portion 32 and a first leg part 33.

The first part of leg 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 leg portion 32 comprises a first tibial segment 321 provided to extend along a first leg (right leg) of the user and fastening straps 322 adapted to surround the first user's leg to fasten the tibial segment 321 to the first leg.

The first leg portion 33 is attached to a first shoe

51 of the user, for example a flange 51 1 of the first shoe 51. The first leg portion 33 may be attached to the sole 51 1 by means of screws or other suitable fastening means.

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 leg part 33 through a first pin joint 36.

As shown in Figure 1, the first tibial segment 321 is formed in two parts. The first tibial segment 321 comprises a first part 325 (or upper part), a second part 326 (or bottom piece) and a first hinge 327 connecting the second piece 326 to the first piece 325. The first piece 325 is connected to the first thigh portion 31 via the knee joint 35. the second part 326 is connected to the first leg portion 33 via the joint pin 36. the first joint 327 connects the second component 326 to the first part 325 is arranged to allow a rotation of the second part 326 relative to the first part 325 caused by internal / external rotational movement of the right foot of the user relative to the right leg.

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

Thus, the second mechanical assembly 4 also comprises a second portion of leg 41, a second leg portion 42 and a second leg portion 43.

The second part of leg 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 leg portion 42 comprises a second tibial segment 421 provided to extend along a second leg (left leg) of the user and fastening straps 422 adapted to surround the second user's leg to fasten the tibial segment 421 to the second leg.

The second leg portion 43 is attached to a second shoe 52 of the user, for example to a sole 521 of the shoe 52. The second stem part 43 can be fixed to the sole 521 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 segment femoral 41 1 by the second knee joint 45 and a second end 424 connected to the

second leg portion 43 via a second articulation pin 46.

As the first tibial segment 321, the second tibial segment 421 is also formed in two pieces. The second tibial segment 421 comprises a first part 425 (or upper part), a second part 426 (or bottom piece) and a first hinge 427 connecting the second piece 426 to the first piece 425. The first piece 425 is connected to the second thigh portion 41 via the knee joint 45. the second part 426 is connected to the second leg portion 43 via the joint pin 46. the first joint 427 connects the second component 426 to the first part 425 is arranged to allow a rotation of the second part 426 relative to the first part 425 caused by internal / external rotation motion of the left foot of the user with respect to the left leg.

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.

Figures 2 and 3 show in more detail a first subset of exoskeleton 30 comprising the first leg portion 32, the first leg portion 33 and the first ankle joint 36, according to one embodiment of the invention .

It should be noted that the second subset of exoskeleton 40 comprising the second leg portion 42, the second leg portion 43 and the second ankle joint 46 is symmetrical to the first subset of exoskeleton 30. The second sub exoskeletal subassembly 40 is formed of elements identical or similar to those of the first subset of exoskeleton 30 and operates in the same manner as the first subset of exoskeleton 30.

Figures 2 and 3, the first leg part 33 comprises a fastening member 331, a hinge 332 and an intermediate part 333.

The attachment part 331 is intended to be fastened to the shoe 51 of the user. Specifically, the attachment part 331 is adapted to be secured to the sole 51 of the shoe 1 51. To this end, the piece

attachment 331 comprises two arms 335 and 336 arranged to extend respectively on either side of the shoe 51, along the sole 1 51 of the shoe 51. Each arm 335, 336 has two mounting holes 337, 338 in which fasteners (e.g., screws) may be inserted to secure the arm 335, 336 to the sole 51 1. The fixing holes 337 define the first fastening points through which pass a first transverse fold line P1 of the sole 51 1 relative to the attachment part 331. Similarly, the apertures 338 define second points of attachment by which a second transverse fold line P2 of the sole 51 1 relative to the attachment part 331. Because of the arrangement of attachment points, the arms 335 and 336 permit flexing of the sole 51 of the shoe 1 51 according to two folding lines P1 and P2 are not parallel to each other. Furthermore, attachment points corresponding to the fixing holes 337 are arranged such that the first fold line P1 extends under the heel of the user. The attachment points corresponding to the fixing holes 338 are arranged so that the second fold line P2 extends below the joints of the toes of the user. Thus, the sole 51 of the boot 1 is deformed by marrying the movements of the user's foot during walking of the user. This will avoid disturbing the progress of the user. the attachment points corresponding to the fixing holes 337 are arranged such that the first fold line P1 extends under the heel of the user. The attachment points corresponding to the fixing holes 338 are arranged so that the second fold line P2 extends below the joints of the toes of the user. Thus, the sole 51 of the boot 1 is deformed by marrying the movements of the user's foot during walking of the user. This will avoid disturbing the progress of the user. the attachment points corresponding to the fixing holes 337 are arranged such that the first fold line P1 extends under the heel of the user. The attachment points corresponding to the fixing holes 338 are arranged so that the second fold line P2 extends below the joints of the toes of the user. Thus, the sole 51 of the boot 1 is deformed by marrying the movements of the user's foot during walking of the user. This will avoid disturbing the progress of the user. The attachment points corresponding to the fixing holes 338 are arranged so that the second fold line P2 extends below the joints of the toes of the user. Thus, the sole 51 of the boot 1 is deformed by marrying the movements of the user's foot during walking of the user. This will avoid disturbing the progress of the user. The attachment points corresponding to the fixing holes 338 are arranged so that the second fold line P2 extends below the joints of the toes of the user. Thus, the sole 51 of the boot 1 is deformed by marrying the movements of the user's foot during walking of the user. This will avoid disturbing the progress of the user.

In addition, each arm 335, 336 has portions 307 and 308 projecting extending below the fastening holes 337 and 338, each portion 307, 308 being adapted to come into contact with the ground in order to limit the crushing 1 of the sole 51 at the location of the fixing points of the arms 335 and 336 to the sole 51 1.

The intermediate part 333 is connected to the attachment part 331 through hinge 332. The hinge 332 is disposed at the rear of the boot 51 of the user, behind the heel. The hinge 332 allows rotation of the attachment part 331 relative to the intermediate member 332 caused by a movement of eversion / inversion of the foot relative to the leg of the user. In other words, the hinge 332 allows rotation of the attachment part 331 relative to the intermediate part 333 about an axis of rotation X parallel to an axis eversion / inversion of the foot

the user, when the tibial part 32 is attached to the leg and the foot portion 33 is fixed to the foot of the user.

The hinge 332 may be made of a connecting assembly such as that described in French Patent Application No. 1657295 filed July 28, 2016.

In the embodiment illustrated in Figures 2 and 3, the intermediate part 333 has a general shape of a U. The intermediate part 333 comprises in particular two intermediate arms 375, 376 extending on either side of the shoe respectively 51 of the user.

The second piece 326 of the tibial segment 32 also has a generally U-shaped second part 326 comprises in particular two connecting arms 385 and 386, each link arm 385, 386 being respectively connected to one intermediate arm 375, 376 of the intermediate part 333 through an ankle joint 36.

ankle joints 36 allow a rotation of the intermediate member 333 relative to the second part 326 of the tibial segment 32 caused by a flexion / extension movement of the foot relative to the leg. In other words, the ankle joints 36 allow a rotation of the intermediate member 333 relative to the second part 326 around a rotation axis Y parallel to an axis of flexion / extension of the foot of the user, when the tibia part 32 is attached to the leg and the foot portion 33 is secured to the shoe 51 of the user.

Each ankle joint 36 can be made of a connecting assembly such as that described in French Patent Application No. 1657295 filed July 28, 2016.

It should be noted that each arm 385, 386 of the second part 326 may itself be formed by two parts, one part is slidable relative to another part so as to allow adjustment of the height and depth of the hinge 327 relative to the ankle joint 36. This also allows to quickly disengage the foot portion 33 attached to the shoe 51 from the rest of the exoskeletal structure 1. The user can keep his shoes 51 and 52, after removing the rest of the exoskeleton structure.

Finally, the second part 326 of the tibial segment 32 is connected to the first part 325 of the tibial segment 32 through the hinge 327. The hinge 327 is arranged in front of the leg of the user when the tibial part 32 is fixed in the leg and the foot portion 33 is secured to the shoe 51 of the user. The hinge 327 allows rotation of the second part 326 relative to the first part 325 about an axis of rotation Z which is parallel to an axis of internal / external rotation of the foot of the user (substantially vertical direction when the The user stands upright).

Furthermore, the rotation axis Z of the joint 327 is orthogonal with the axis of rotation Y of the ankle joint 36. The joint 327 may be oriented so that the axis of rotation Z is concurrent with the axis of rotation Y of the ankle joint 36. This means that the rotation axis Z intersects the axis of rotation Y.

The subassembly 30 illustrated in Figures 2 and 3 and permits rotation of the right foot of the user relative to the right leg according to three degrees of freedom.

The arrangement of the rotation axes X, Y and Z enables the subset exoskeletal to adapt to the movements of the user's foot, thereby improving the comfort and mobility of the latter.

Similarly, the subassembly 40 permits rotation of the left foot of the user with respect to the left leg in three degrees of freedom.

Furthermore, the arrangement of pivots 36 on each side of the user's ankle can balance the load which applies to the pivot 332 located behind the heel of the user.

4 shows schematically a variant of the attachment part 331.

In this variant, the sole 51 of the shoe 1 51 is provided with a mounting plate 541. The fixing plate 541 may be embedded in the sole of the shoe 51. The fixing plate 541 has fixing pieces 547, 548 extending from the side edges of the plate 541 and projecting from either side of the sole.

Each arm 335, 336 of the attachment piece 331 has two mounting slots 347, 348 into which fixing pins 547, 548 can be inserted vertically to secure the arm 335, 336 to the sole 51 1.

Each mounting slot 347 and 348 may be provided with a locking device for locking the securing pins 547, 548 in the mounting slots 347, 348. Figures 5A through 5C schematically illustrate an example of device snap, hook and spring for locking a fixing pin 547 in a mounting slot 347.

The mounting slots 347, 348 and fixing pins 547, 548, and any locking devices, allow hooking and quick release of the foot portion 33 in the shoe 51.

CLAIMS

1. Subset of exoskeleton (30) comprising:

- a leg portion (32) adapted to be attached to a leg of a user, and

- a foot portion (33) adapted to be attached to a user's shoe,

wherein the leg portion (32) comprises a tibial segment (321) extending below the knee, along the user's tibia, when the leg portion (32) is attached to the leg, the tibial segment ( 321) comprising a first part (325), a second part (326) connected to the foot part (33), and a first joint (327) connecting the second part (326) to the first part (325), the first joint (327) allowing rotation of the second part (326) relative to the first part (325) caused by internal rotation / external user's foot relative to the leg, and

wherein the foot part (33) comprises an intermediate piece (333) connected to the second part (326) of the leg portion (32), an attachment part (331) adapted to be fixed to the shoe (51 ) of the user and a third articulation (332) connecting the intermediate piece (333) to the attachment part (331), the third articulation (332) allowing rotation of the attachment part (331) relative to the intermediate part (333) caused by a movement of eversion / inversion of the wearer's foot relative to the leg.

2. A subassembly according to claim 1, comprising a second joint (36) connecting the second part (326) to the foot portion (33), the second articulation (36) allowing rotation of the foot part (33) relative to the leg portion (32) caused by a flexion / extension movement of the user's foot relative to the leg.

3. A subassembly according to claim 2, wherein the first joint (327) permits rotation of the second part (326) by

relative to the first piece (325) about a first axis of rotation (Z), and the second joint (36) permits rotation of the foot part (33) relative to the second part (326) around a second axis of rotation (Y), and the first axis of rotation (Z) and the second axis of rotation (Y) are mutually orthogonal.

4. A subassembly according to one of claims 1 to 3, wherein the attachment part (331) comprises two clamp arms (335, 336) for securing the attachment part (331) on the shoe (51 ), the holding arms (335, 336) permitting flexing of the sole (51 1) of the shoe (51) along two folding lines (P1, P2) are not parallel.

5. Structure according to one of claims 1 to 4, wherein the attachment part (331) has slots (347, 348) which can be inserted in the fixing studs (547, 548) for fixing the piece attachment (331) on the shoe (51).

6. Structure exoskeleton (1) comprising at least a subset of exoskeleton (30, 40) according to any one of claims 1 to 5.