The invention relates to a connecting device for exoskeletal structure, and an exoskeleton structure comprising such a device.

STATE OF THE ART

In the military field, the foot soldiers are commonly equipped with backpacks, allowing them to carry equipment. When the infantry carry out extended missions, the weight of the backpack can reach 50 kilograms. The weight of the backpack can greatly reduce the mobility of the infantryman and generates a greater metabolic cost.

Additionally, the backpack usually rests on the shoulders or hips of the user, which can cause musculoskeletal disorders in the shoulder, skin pressure and even cause peripheral neurologic symptoms by nerve compression (tingling).

Current solutions are to distribute the weight of the backpack on both shoulders with straps and on the hips with a lap belt. These solutions however, can not completely relieve the user.

The assistance to the effort exoskeletons are mechanical structures that duplicate the human skeletal structure that improve the physical capabilities of the human body.

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

However, the exoskeleton known structures (sometimes called "walking robots") generate a very significant footprint and reduce the mobility of the user.

In particular, in these exoskeletal structure, the load of the backpack is based on the lower parts of the exoskeleton, which extend along the legs of the wearer to the ground. This charge therefore tend to oppose the user's feet movements during walking, especially when the user takes off his foot off the ground.

SUMMARY OF THE INVENTION

An object of the invention is to propose a solution to enable a user to be relieved of a substantial part of the weight of the backpack, without reducing the mobility of her lower body during walking or race.

This object is achieved in the context of the present invention by a connecting device for exoskeletal structure, comprising:

- a support intended to be fixed on a waist belt,

- a rotatably mounted input member relative to the support and adapted to be connected to a mechanical assembly of the back of the exoskeletal structure,

- a transmission device,

- a first link rotatably mounted relative to the support, the first link having a first end connected to the input part through the transmission device and a second clean end to be connected to a first hip joint of a first leg mechanical assembly of the exoskeletal structure, and

- a second link rotatably mounted relative to the support, the second link having a first end connected to the input part through the transmission device and a second clean end to be connected to a second hip joint of a second leg mechanical assembly of the exoskeletal structure,

the transmitting device being arranged so that:

- when a load is applied to the input piece tending to pivot the inlet part in a first rotational direction relative to the support, the transmission device transmits to the first rod a force tending to rotate the first rod about its axis to transfer the load to the first mechanical assembly leg and discharging the second mechanical assembly leg of the exoskeletal structure, and

- when a load is applied to the input piece tending to pivot the inlet part in a second rotational direction relative to the support, opposite the first direction of rotation, the transmission device transmits to the second link a force tending to rotate the second link around its axis to transfer the load to the second mechanical assembly and leg discharging the first mechanical assembly leg of the exoskeletal structure.

During the gait cycle, the mechanical assemblies of the exoskeletal leg structure are in contact with the ground alternately. The proposed connecting device to transfer the charge generated by the weight of the backpack to the leg mechanical assembly in contact with the ground and to relieve the leg mechanical assembly which is not in contact with the ground.

Specifically, for each leg of mechanical assembly:

- during the stance phase, which corresponds to a period when the foot is in contact with the ground, the load is transmitted to the ground by mechanical leg assembly, and

- during the swing phase when the foot is no longer in contact with the ground, the leg mechanical assembly is free of any load generated by the backpack, so that the swing base is free of its movement.

Moreover, when the user is standing still, the leg mechanical assemblies of the exoskeleton structure are simultaneously in contact with the ground. The proposed connecting device allows to share the load generated by the weight of the backpack by spreading it over the two leg mechanical assemblies.

The connecting device may also have the following characteristics:

- the inlet part is mounted slidably relative to the support, - the inlet part is mounted slidably relative to the support via a slide and a clean cylindrical peg to slide inside the slide and rotatable relative to the slide,

- the inlet part has a first part having one end connected to the first link through the transmission device and a second arm having one end connected to the second link through the transmission device,

- the transmission device is a pulley device and cables,

- the transmission device comprises a first cable connecting the inlet part at the first end of the first link and a second cable connecting the inlet part at the first end of the second link,

- the device comprises a first pulley rotatably mounted on the support, and wherein the first cable connects the inlet part at the first end of the first link by bearing against a circumferential surface of the first pulley,

- the device comprises a second pulley rotatably mounted on the support, and wherein the second cable connects the inlet part at the first end of the second link by bearing against a circumferential surface of the second pulley,

- the first pulley and the second pulley have confounded their axes of rotation,

- the transmission device comprises a first pulley rotatably mounted on the support, a first cable connecting the input part to the first pulley, and a third wire connecting the first pulley to the first end of the first link,

- the first cable is supported on a first circumferential surface of the first pulley and the third wire is supported on a third circumferential surface of the first pulley, the third circumferential surface present a radius less than the radius of the first circumferential surface,

- the transmission device comprises a second pulley rotatably mounted on the support, a second cable connecting the input part to the second pulley, and a fourth wire connecting the second pulley to the first end of the second link,

- the second cable is supported on a second circumferential surface of the second pulley and the fourth cable is supported on a fourth circumferential surface of the second pulley, the fourth circumferential surface present a radius less than the radius of the second circumferential surface,

- the first pulley and / or second pulley has an axis of rotation coincident with the axis of rotation of the first link and / or the second link.

The invention further relates to an exoskeletal structure comprising:

- a clean hip belt to surround the waist of a user,

- a first mechanical assembly of own leg to extend along a first user's leg,

- a second mechanical assembly of own leg to extend along a second leg of the user,

- a clean mechanical assembly back to extend along the back of the user for carrying a load,

- a connecting device as defined above, whose inlet part is connected to the back frame, the support is secured to the waist belt, the first connecting rod has its second end connected to the first leg via a first mechanical assembly hip joint and the second connecting rod has its second end connected to the second leg via a second mechanical assembly hip joint.

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, an exoskeleton structure according to one embodiment of the invention,

- Figure 2 shows schematically a side view of the exoskeleton structure of Figure 1,

- Figures 3 and 4 schematically illustrate a connecting device according to a first embodiment of the invention,

- Figure 5 is a block diagram illustrating the operation of the connecting device of Figures 3 and 4,

- Figure 6 schematically shows a connecting device according to a second embodiment of the invention.

DETAILED DESCRIPTION OF AN EMBODIMENT

In Figures 1 and 2, the exoskeletal structure 1 shown comprises a waist belt 2, a first mechanical assembly of leg 3, a second mechanical assembly of leg 4, and a mechanical assembly back 5.

The waist belt 2 is arranged to surround the waist of a user.

The waist belt 2 is arranged around the waist of the user, resting on the hips of the user. The lumbar belt can withstand a battery for powering the various actuators of the exoskeletal structure to electrical energy, and a control unit programmed to control the various actuators. The battery and the control unit are attached to the waist belt.

The first leg of mechanical assembly 3 extends along a first leg (right leg) of the user. The first set of mechanical leg 3 is adapted to be attached to the first leg to assist the movement of the first leg when walking or running.

The second mechanical assembly leg 4 extends along a second leg (left leg) of the user. The second set of mechanical leg 4 is adapted to be attached to the second leg to assist the movement of the second leg when walking or running.

Note that the first leg of mechanical assembly 3 and the second mechanical assembly leg 4 are symmetrical to one another. These sets 3 and 4 therefore comprise identical or similar parts.

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 35 of the user, for example to a sole 351 of the shoe 37. The first foot part 33 may be fixed to the sole 371 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

47 to the user, for example to a sole 471 of the shoe 47. The second stem part 43 can be fixed to the sole 471 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.

The mechanical back assembly 5 (visible in Figure 2) is adapted to extend along the user's back for carrying a load 6, such as a backpack.

The exoskeletal structure 1 also comprises a connecting device 7 for connecting the mechanical back assembly 5 to the waist belt 2 and the mechanical assemblies of leg 3 and 4.

When the load 6 is fixed to the mechanical assembly of the back 5, the weight of the load 6 is transferred to the ground via the waist belt 2 and the leg mechanical assemblies 3 and 4.

Figures 3 and 4 schematically illustrate a connecting device 7 according to a first embodiment, connecting the back of the mechanical assembly 5 to the waist belt 2 and the mechanical assemblies of leg 3 and 4.

The connecting device 7 comprises a support 71, an input part 72, a transmission device 73, a first link 74 and second link 75.

The support 71 is fixed to the waist belt 2.

The input part 72 is connected to the mechanical back assembly 5. The inlet piece 72 is slidably mounted relative to the support 71 through a chute 71 1 and a cylindrical pin 721 which can slide inside the slider 71 and one to rotate relative to the slide 1 71. Specifically, the pin 721 is fixedly mounted on the inlet part 72 and the slide 71 1 is fixedly mounted on the support 71. The peg 721 and the zipper 71 1 thus allow a displacement of the input part 72 relative to the support 71 in a substantially vertical direction when the user stands upright. The pin 721 and the slide 1 71 also allow rotation of the input part 72 with respect to support 71 about an axis of rotation parallel to the sagittal axis of the

The input part 72 has a generally U-shaped with a first leg 722 and a second branch 723. The first branch 722 has a first end 724 and the second leg 723 has a second end 725.

The transmission device 73 comprises a first pulley 76, a second pulley 77, a first cable 78 and a second cable 79.

The first pulley 76 is rotatably mounted on the support 71 about a first axis of rotation 763. The first pulley 76 includes a first wheel 761 having a first circumferential surface 762. The first circumferential surface 762 may have a first groove for receiving and guiding the first cable 78.

The second pulley 77 is also rotatably mounted on the support 71 about a second axis of rotation 773. The second pulley 77 comprises a second wheel 771 having a second circumferential surface 772. The second circumferential surface 772 may have a second groove receiving and guiding the second cable 79.

The two pulleys 76 and 77 may be arranged side by side with the axes of rotation 763 and 773 separate and parallel, or be arranged by being superimposed with their rotational axes 763 and 773 coincident.

The first link 74 is rotatably mounted on the support 71. Preferably, the first link 74 is rotatably mounted about an axis of rotation 743 coincides with an axis adduction / abduction of the first hip joint (right hip joint) of the user. The first link 74 has a first end 741 connected to the input part 72 via the transmission device 73 and a second end 742 connected to the first hip joint 34 of the first leg of mechanical assembly 3.

The second link 75 is rotatably mounted relative to the support 71. Preferably, the second link 75 is rotatably mounted about an axis of rotation 753 parallel to the axis of rotation 743 of the first link 74, and coincides with an axis adduction / abduction of the second hip joint ( left hip joint) of the user. The second link 75 has a first end 751 connected to the input part 72 via the transmission device 73 and a second end 752 connected to the second hip joint 44 of the second mechanical assembly leg 4.

The first cable 78 connects the inlet part 72 to the first link 74, by resting on the circumferential surface 762 of the first pulley 76. More specifically, the first cable 78 has a first end 781 attached to the first end 724 of the inlet part 72 and a second end 782 attached to the first end 741 of the first link 74.

Similarly, the second cable 79 connecting the inlet part 72 to the second connecting rod 75, bearing against the circumferential surface 771 of the second pulley 77. More specifically, the second cable 79 has a first end 791 attached to the second end 725 of the inlet part 72 and a second end 792 attached to the first end 751 of the second link 75.

Furthermore, as can be seen in Figure 4, each link 74, 75 can be connected to a mechanical assembly of leg 3, 4 of respective through articulated segments 84, 85. More specifically, the first segment 84 comprises two parts segments 841 and 842 hinged via a pivot joint 843 allowing rotation of the segments portions relative to each other about a vertical axis. Similarly, the second segment 85 consists of two parts 851 and 852 of segments hinged through a pivot joint 853 allowing rotation of the segments portions relative to each other about a vertical axis. The pivotal connections 843 and 853 are used to accommodate internal and external rotation movements of the hips of the user.

Figure 5 illustrates the principle of operation of the connection device 7.

The connecting device 7 operates as follows.

When the user is standing in abutment on two legs, in the static position, the weight of the load 6 back 5 supported by the mechanical assembly is transmitted to the input part 72 (arrow A). The weight has the effect of tensioning the first cable 78 and the second cable 79. The tension exerted on the first cable 78 is identical to the voltage applied to the second cable 79. This voltage is equal to half of the load.

This has the consequence that the first cable 78 exerted on the first link 74 a first force tending to pivot the first link 74 in a first direction of rotation (arrow B).

Similarly, the second cable 79 exerted on the second connecting rod 75 a second force tending to pivot the second link 75 according to a second direction of rotation (arrow C) opposite to the first direction of rotation.

The first link 74 and transmits a first force to the first mechanical assembly of leg 3 and the second connecting rod 75 transmits a second force to the second mechanical assembly leg 4. The first force is the same as the second force, so that the two mechanical assemblies leg 3 and 4 bear the same pressing force, equal to half of the load.

When the user walks, the user presses alternately on its first leg (right leg) and on its second leg (left leg), which causes a slight oscillation of the inlet part 72 around its axis of rotation .

During a first phase of the walking cycle, when the user presses on the first leg, the input part 72 tends to pivot relative to the support part 71 in a first direction of rotation (arrow D ) about its axis of rotation.

The rotation of the input part 72 in the first direction for a soft effect the first cable 78 and relax the second cable 79. In other words, the tension in the first cable 78 becomes greater than the tension in the second cable 79 . the first cable 78 transmits to the first link 74 a force tending to rotate the first link 74 relative to the support part 71 in the first direction of rotation (arrow B) around its axis of rotation 743. This has effect that the entire load on the back 5 of mechanical assembly is transferred by the first link 74 in the first leg of mechanical assembly 3 via the first hip joint 34.

Conversely, the proportion of the load transmitted to the second mechanical assembly leg 4 is greatly reduced, allowing the user to be able to lift the second leg of the ground without exerting undue effort.

During a second phase of the walking cycle, when the user presses on the second leg, the input part 72 tends to pivot relative to the support part 71 according to a second direction of rotation (arrow E ) about its axis of rotation, the second rotational direction being opposite the first direction of rotation.

The rotation of the input part 72 in the second direction has the effect of tensioning the second cable 79 and unwind the first cable 78. In other words, the tension in the second cable 79 becomes greater than the tension in the first cable 78 . the second cable 79 transmits to the second link 75 a force tending to rotate the second link 75 relative to the support part 71 in the second direction of rotation (arrow C) about its rotational axis 753. This has the effect that the entire load on the back 5 of mechanical assembly is transferred by the second link 75 to the second mechanical assembly 4 via the second leg hip joint 44.

Conversely, the proportion of the load transmitted to the first mechanical assembly leg 3 is greatly reduced, allowing the user to be able to lift the first leg of the ground without exerting undue effort.

During the gait cycle, the load is thus transferred alternately to the first mechanical assembly of leg 3 and to the second leg of mechanical assembly 4. With the proposed connecting device 7, the load is transferred to the mechanical assembly of leg 3 or 4 which is in contact with the ground. The other leg of mechanical assembly only supports a small proportion of the load so that the user can easily lift the corresponding leg.

Figure 6 schematically shows a connecting device 7 according to a second embodiment.

As in the first embodiment, the connecting device 7 comprises a support 71, an input part 72, a transmission device 73, a first link 74 and second link 75.

The support 71 is fixed to the waist belt 2.

The input part 72 is connected to the mechanical back assembly 5. The inlet piece 72 is slidably mounted relative to the support 71 through a chute 71 1 and a cylindrical pin 721 which can slide inside the slider 71 and one to rotate relative to the slide 1 71.

In this second embodiment, the input part 72 has the general shape of inverted T with a first branch 722 and second branch 723. The first branch 722 has a

first end 724 and the second leg 723 has a second end 725.

The transmission device 73 comprises a first pulley 76, a second pulley 77, third pulley 86, a fourth pulley 87, a first cable 78, a second cable 79, a third cable 88 and a fourth wire 89.

The first pulley 76 is rotatably mounted on the support 71 about a first axis of rotation 763. The first pulley 76 includes a first wheel 761 having two circumferential surfaces 762 and 764 having different radii. The radius of the circumferential surface 764 is smaller than the radius of the circumferential surface 762. The circumferential surface 762 may have a groove for receiving and guiding the first cable 78. The circumferential surface 764 can also have a groove for receiving and guiding the third cable 88.

The second pulley 77 is also rotatably mounted on the support 71 about a second axis of rotation 773. The second pulley 77 comprises a second wheel 771 also having two circumferential surfaces 772 and 774. The radius of the circumferential surface 774 is less than the radius of the circumferential surface 772. the circumferential surface 772 may have a groove for receiving and guiding the second cable 79. the fourth circumferential surface 764 may have a groove for receiving and guiding the fourth cable 89.

The first link 74 is rotatably mounted relative to the support 71. More specifically, the first link 74 is rotatably mounted about an axis of rotation coincident with the axis of rotation 763 of the first pulley 76. The first link 74 has a first end 741 connected to the input part 72 by the through the transmission device 73 and a second end 742 connected to the first hip joint 34 of the first leg of mechanical assembly 3.

The second link 75 is rotatably mounted relative to the support

71. More specifically, the second link 75 is rotatably mounted about an axis of rotation 753 coincides with the axis of rotation of the second pulley 77. The second link 75 has a first end 751

connected to the input part 72 via the transmission device 73 and a second end 752 connected to the second hip joint 44 of the second mechanical assembly leg 4.

The first cable 78 connects the inlet part 72 to the first pulley 76 by resting on the circumferential surface 762 of the first pulley 76. The third cable 88 connects the first pulley 76 to the first link 74, by bearing on the circumferential surface 764 of the first pulley 76 and on the circumferential surface 862 of the third pulley 86.

More specifically, the first cable 78 has a first end 781 attached to the first end 724 of the inlet part 72 and a second end 782 attached to the first circumferential surface 762 of the first pulley 76.

The third cable 88 has a first end 881 attached to the circumferential surface 764 of the first pulley 76 and a second end 882 attached to the first end 741 of the first link 74.

Similarly, the second cable 79 connecting the inlet part 72 to the second pulley 77 by resting on the circumferential surface 772 of the second pulley 77. The fourth cable 89 connects the second pulley 77 to the second link 75, taking support on the circumferential surface 774 of the second pulley 77 and on the circumferential surface 872 of the fourth pulley 87.

More specifically, the second cable 79 has a first end 791 attached to the second end 725 of the inlet part 72 and a second end 792 attached to the circumferential surface 772 of the second pulley 77.

The fourth cable 89 has a first end 891 attached to the circumferential surface 774 of the second pulley 77 and a second end 892 attached to the first end 751 of the second link 75.

As each pulley 76 (respectively 77) has two circumferential surfaces 762 and 764 (respectively 772 and 774) of

different radii, the transmission device 73 allows to increase the tension exerted by the first cable 78 (respectively the second cable 88) is transmitted to the third cable 88 (respectively the fourth cable 89).

This configuration allows to obtain a particularly compact transmission device 73.

In operation, rotation of the input part 72 in the first direction of rotation (arrow D) has to tension the first cable end 78. The cable 78 first transmits to the first pulley 76 a force tending to rotate the first pulley 76 relative to the support part 71 in the first direction of rotation (arrow B) around its axis of rotation 763.

The rotation of the first pulley 76 in the first direction of rotation has the effect of winding the third wire 88 around the first pulley 76. However, as the radius of the circumferential surface 764 is smaller than the radius of the circumferential surface 762, the voltage which is transmitted to the third cable 88 is greater than the tension exerted by the first cable 78.

Conversely, rotation of the input part 72 in the second rotational direction (arrow E) to tension the second cable end 79. The second cable 79 transmits to the second pulley 77 a force tending to rotate the second pulley 77 relative to the support part 71 in the second direction of rotation (arrow C) about its axis of rotation 773.

The rotation of the second pulley 77 in the second direction of rotation has the effect of winding the fourth cable 89 around the second pulley 77. However, as the radius of the circumferential surface 774 is smaller than the radius of the circumferential surface 772, the voltage transmitted to the fourth wire 89 is greater than the tension exerted by the second cable 79.

As in the first embodiment, during the gait cycle, the charge is transferred alternately to the first mechanical assembly of leg 3 and to the second mechanical assembly

leg 4. Thanks to the connecting device 7 provided, the load is still transferred to the leg 3 or 4 of mechanical assembly which is in contact with the ground. The other leg of mechanical assembly only supports a small proportion of the load so that the user can easily lift the corresponding leg.

CLAIMS

1. A connecting device (7) for exoskeletal structure, comprising:

- a support (71) intended to be fixed on a waist belt (2),

- an inlet part (72) rotatably mounted relative to the support (71) and adapted to be connected to a mechanical assembly of the back (5) of the exoskeletal structure,

- a transmission device (73),

- a first link (74) rotatably mounted relative to the support (71), the first link (74) having a first end (741) connected to the inlet part (72) via the transmission device (73) and a second end (742) adapted to be connected to a first hip joint (34) of a first leg of mechanical assembly (3) of the exoskeletal structure, and

- a second link (75) rotatably mounted relative to the support (71), the second link (75) having a first end (751) connected to the inlet part (72) via the transmission device (73) and a second end (752) adapted to be connected to a second hip joint (44) of a second mechanical assembly leg (4) of the exoskeletal structure,

the transmission device (73) being arranged such that:

- when a load is applied to the input part (72) tending to rotate the input member (72) in a first direction of rotation (D) relative to the support (71), the transmission device transmits the first link (74) a force tending to rotate the first link (74) to transfer the load to the first leg of mechanical assembly (3) and discharging the second leg mechanical assembly (5) of the exoskeletal structure and

- when a load is applied to the input part (72) tending to rotate the input member (72) in a second rotational direction (E) relative to the support (71), opposite the first direction of rotation, the transmission device (73) transmits to the second link (75) a force tending to rotate the second link (75) for transferring the load to the second leg of mechanical assembly (5) and discharging the first mechanical assembly leg (3) of the exoskeletal structure.

2. Device according to claim 1, wherein the input piece (72) is slidably mounted relative to the support (71).

3. Device according to claim 2, the inlet part (72) is slidably mounted relative to the support (71) via a slideway (71 1) and a cylindrical pin (721) adapted to slide within the slideway (71 1) and to rotate relative to the slideway (71 1).

4. Device according to one of claims 1 to 3, wherein the input piece (72) has a first leg (722) having one end (724) connected to the first link (74) through the device transmission (73) and a second leg (723) having one end (725) connected to the second link (74) via the transmission device (73).

5. Device according to one of claims 1 to 3, wherein the transmission device (73) is a pulley device (76-77) and the cables (78-79).

6. Device according to one of claims 1 to 5, wherein the transmission device (73) comprises a first cable (78) connecting the inlet part (72) at the first end (741) of the first link ( 74), and a second cable (79) connecting the inlet part (72) at the first end (751) of the second link (75).

7. Device according to claim 6, comprising a first pulley (76) rotatably mounted on the support (71), and wherein the first cable (78) connects the inlet part (72) at the first end (741) of the first link (74) bearing against a circumferential surface (761) of the first pulley (76).

8. Device according to one of claims 6 and 7, comprising a second pulley (77) rotatably mounted on the support (71), and wherein the second cable (79) connects the inlet part (72) to the first end (751) of the second link (75) bearing against a circumferential surface (771) of the second pulley (77).

9. Device according to claims 7 and 8, wherein the first pulley

(76) and the second pulley (77) have their rotational axes confused.

10. Device according to one of claims 1 to 5, wherein the transmission device (73) comprises a first pulley (76) rotatably mounted on the support (71), a first cable (78) connecting the part of inlet (72) to the first pulley (76), and a third cable (88) connecting the first pulley

(77) at the first end (741) of the first link (74).

11. The apparatus of claim 10, wherein the first cable (78) is supported on a first circumferential surface (762) of the first pulley (76) and the third cable (88) is supported on a third circumferential surface (764) of the first pulley (76), the third circumferential surface (764) present a radius less than the radius of the first circumferential surface (762).

12. Device according to one of claims 10 to 1 1, wherein the transmission device (73) comprises a second pulley (77) rotatably mounted on the support (71), a second cable (79) connecting the piece inlet (72) to the second pulley (77), and a fourth cable (89) connecting the second pulley (77) at the first end (751) of the second link (75).

13. The apparatus of claim 12, wherein the second cable (88) bears against a second circumferential surface (772) of the second pulley (77) and the fourth cable (89) is supported on a fourth circumferential surface (774) the second pulley (77), the

fourth circumferential surface (774) present a radius less than the radius of the second circumferential surface (772).

14. Device according to one of claims 7 to 13, wherein the first pulley (76) and / or the second pulley (77) has an axis of rotation (763, 773) coincides with the axis of rotation (743, 753) of the first link (74) and / or the second link (75).

15. exoskeletal structure (1) comprising:

- a waist belt (2) adapted to surround the waist of a user,

- a first mechanical assembly leg (3) adapted to extend along a first user's leg,

- a second leg mechanical assembly (4) adapted to extend along a second leg of the user,

- a mechanical assembly of back (5) adapted to extend along the user's back for carrying a load (6),

- a connecting device (7) according to one of claims 1 to 14, whose input part (72) is connected to the back frame (5), the support (71) is attached to the hip belt ( 2), the first link (74) has its second end (742) connected to the first leg of mechanical assembly (3) via a first hip joint (34) and the second link (75) has its second end (752) connected the second leg of mechanical assembly (4) via a second hip joint (44).