The invention relates to a modular exoskeleton structure for assistance to the effort of a user including a backpack carrier module.

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 45 kilograms. The weight of the backpack can greatly reduce the mobility of the infantryman and generate significant metabolic expenditure.

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.

Current solutions are to distribute the weight of the backpack on both shoulders with straps and on the hips with a waist 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 and allow to rest the mass of the backpack on the floor.

However, the known exoskeleton structures generate a very significant footprint and reduce the mobility of the user.

SUMMARY OF THE INVENTION

An object of the invention is to relieve the user of the mass of the backpack while maintaining the highest levels of mobility.

This object is achieved through the present invention through modular exoskeletal structure for assistance in the effort of a user, comprising a base module comprising an own hip belt to surround the bottom of the trunk of the user, two hip modules adapted to be fixed on two respective thighs of the wearer, and a backpack carrier package for an exoskeletal structure, comprising:

- a hoop intended to be secured to the hip modules,

- a supporting rod adapted to extend along the back of the user and adapted to be engaged in a pocket of a backpack for suspending the backpack backpack storage module,

wherein the rod comprises a first rod member connected to the rack, a second element of own rod to slide relative to the first shaft member so as to vary a length of the shaft, and a damper for damping the movement of the second rod member relative to the first rod member caused by walking of the user.

The proposed backpack support module to transfer part of the weight of the backpack on the exoskeleton structure.

The damper further reduces the jerks caused by movements of the backpack on the exoskeleton structure when the user is walking, running or jumping.

In this way, the user has greater comfort and greater freedom of movement, despite the weight of the backpack that can be significant.

The structure can also have the following characteristics:

- the first rod member is connected to the hoop by a pivot connection allowing rotation of the rod relative to the hoop,

- the pivot connection permits rotation of the rod relative to the hoop around an anteroposterior axis of the user to accommodate the lateral swaying of the rucksack during walking or running, - the damper comprises an elastic element arranged between the first rod member and second rod member,

- the elastic element has a stiffness greater than or equal to 2000 Newtons per meter,

- the shock absorber comprises a cylinder and a clean piston slidable within the cylinder, the piston delimiting within the cylinder at least one chamber containing a fluid, the sliding of the piston within the cylinder causing compression the fluid contained in the chamber,

- the backpack support module comprises means for changing a volume of the chamber so as to adjust a damping rate of the damper,

- the backpack support module comprises a bellows and sealing element connecting the first rod to the second rod member, and allowing an elongation of the rod and / or rotation of the rod relative to the hoop all preventing the penetration of liquid or debris inside the stem or of the damper,

- the backpack support module comprises an attachment part for attaching the arch to the other module of the exoskeletal structure, the attachment piece being adapted to be snap-fitted into a complementary fastening member mounted fixed on the other module,

- the attachment part is mounted mobile in rotation and in translation on the headband through a ball joint,

- the fastening part forms with the complementary attachment piece a fastening device with bayonet, wherein one of the fasteners comprises a radial pin, and the other attachment member comprises a curved slot in wherein the radial peg can slide, the slot being curved so that the sliding of the pin in the slot from an inlet of the slot to an end of the slot requires a combined movement of translation and rotation of the second part by relative to the first part, the translation being carried out successively in a first direction and then in a second direction opposite the first direction,

- the second rod member is telescopic,

- the second rod member is formed of a synthetic material reinforced with carbon fibers,

- the second rod member has an end portion formed of metal,

- the backpack carrier module comprises a force sensor to measure the weight of the backpack when the backpack is suspended rucksack module,

- the structure comprises two fastening devices for attaching the backpack hip support module to module, each attachment device comprising a first part attached to one hip modules and a second part connected to one end of the arch, the second part being adapted to be snapped into the first part to secure the shackle to the hip modules.

The invention further relates to a structure as defined above, in combination with a backpack comprising a pocket into which can be engaged the support rod to suspend the backpack backpack carrier module.

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 a possible embodiment of the invention,

- Figures 2 and 3 show schematically, in back view and in side view, the user equipped with the exoskeletal structure, according to a first possible configuration of the invention,

- Figures 4 and 5 show schematically, in back view and in side view, the user equipped with the exoskeletal structure, according to a second possible configuration of the invention,

- Figures 6 and 7 schematically show, in rear view and in side view, the user equipped with the exoskeletal structure, according to a third possible configuration of the invention,

- Figures 8A and 8B schematically illustrate a hip joint connecting a hip module to the basic module,

- Figure 9 shows schematically a fastening device for attaching the hip module to the basic module,

- Figures 10A and 10B show schematically the attachment device in the unlocked configuration and respectively locked configuration,

- Figure 1 1 shows schematically the lower modules of the exoskeletal structure,

- Figures 12A-12E schematically illustrate a boot equipped with a foot module during different from the user walks phases,

- Figure 13 shows schematically an enlarged view of the upper modules of the exoskeletal structure,

- Figure 14 shows schematically a spine segment forming part of the back of the module,

- Figure 15 schematically shows a vertebra of the spine member segment,

- Figures 16 to 18 show schematically a shoulder module,

- Figure 19 shows schematically a fastening device for attaching the shoulder module to bend module,

- Figures 20 and 21 schematically show a backpack carrier module,

- Figure 22 shows schematically a fastening device for attaching the support module backpack hip each module.

DETAILED DESCRIPTION OF AN EMBODIMENT

modular structure

In Figures 1 to 7, the exoskeletal structure shown comprises a base module 1, a back module 2, two shoulder modules 3, two elbow modules 4, two hip modules 5, two knee modules 6 , two foot modules 7 and a bag support module 14 back.

The exoskeleton shown in these figures structure can be used in different configurations in order to obtain different exoskeletons adapted to different uses.

In a first configuration illustrated in Figures 1 to 3, the exoskeleton is formed by the assembly of the basic module 1, module 2 back on both shoulder modules 3, of the two elbow modules 4, the two hip modules 5, the two knee modules 6 and 7 foot two modules.

In a second configuration illustrated in Figures 4 and 5, the exoskeleton is formed by the assembly of the basic module 1, module 2 back on both shoulder modules 3 and two elbow module 4 only.

In a third configuration illustrated in Figures 6 and 7, the exoskeleton is formed by the assembly of the basic module 1, two hip modules 5, the two knee modules 6, the two leg modules 7, and bag support module back 14 only.

The three examples of configurations illustrated in these figures are obtained from three different assemblies of the modular structure of exoskeleton. However, other configurations are of course possible. In these various configurations, the exoskeleton is formed from one or more modules assembled together.

As illustrated in Figures 1 to 3, the basic module 1 comprises a waist belt 1 one is able to surround the bottom of the wearer's trunk. Lumbar buckle 1 1 is arranged around the waist of the user, resting on the hips of the user. The basic module 1 also includes a first battery 12 for powering the various actuators of the electric power structure, and a unit of

control 13 programmed to control the various actuators. The first battery 12 and the control unit 13 are fixed to the waist belt 1 January.

The back module 2 is adapted to be fixed to the upper body of the user, above the basic module 1, along the back of the user.

bend 4 of the modules are adapted to be secured on the user's arm, respectively in the right arm and left arm.

Each shoulder module 5 is adapted to connect the back of module 2 to a respective elbow module 4.

The back module 2, the shoulder and the elbow 3 modules 4 modules form a set of upper modules whose function is to assist the user in much it exercises with his upper body, e.g. when performing repetitive tasks with his upper body.

5 hip modules are adapted to be secured over the thighs of the user, respectively in the right thigh and the left thigh of the user.

The knee modules 6 are adapted to be secured to the calf of the user, respectively in the calf of the right leg and calf of the left leg of the user.

7 foot modules are adapted to be secured on the user's feet, respectively, right foot and left foot.

Hip modules 5, the knee modules 6 and 7 foot modules form a set of lower modules whose function is to assist the user in his efforts produced with the lower body, in particular when walking or when carrying or moving loads.

Note that the hip modules 5 are symmetrical to one another. Hip modules 5 therefore comprise identical or similar parts.

Similarly, knee modules 6 are symmetrical with each other, and include identical or similar parts.

It is the same foot 7 modules, shoulder modules 3 and 4 elbow modules.

hip module

Comme illustré sur les figures 1 à 3, chaque module de hanche 5 comprend une partie fémorale 51 propre à être fixée sur la cuisse de l'utilisateur et une articulation de hanche 52.

La partie fémorale 51 comprend un segment fémoral 51 1 prévu pour s'étendre le long de la cuisse de l'utilisateur et des sangles de fixation 512 propres à entourer la cuisse de l'utilisateur pour fixer le segment fémoral 51 1 à la cuisse.

Chaque module de hanche 5 est relié au module de base 1 par le biais d'une articulation de hanche 52 respective. Plus précisément, l'articulation de hanche 52 permet de relier la partie fémorale 51 du module de hanche 5 à la ceinture 1 1 du module de base 1 .

Articulation de hanche

Comme illustré sur les figures 8A et 8B, l'articulation de hanche 52 comprend un actionneur de hanche 521 permettant d'assister l'utilisateur lors d'un mouvement de flexion ou d'extension de la hanche de l'utilisateur. L'actionneur 521 comprend un stator 522 et un rotor 523 propre à être entraîné en rotation par rapport au stator 522 lorsque le stator 522 est alimenté en énergie électrique pour entraîner en rotation le module de hanche 5 par rapport au module de base 1 lors d'un mouvement de flexion ou d'extension de la hanche.

L'articulation de hanche 52 comprend en outre un élément élastique 524 de rappel agencé pour exercer une force élastique de rappel qui assiste le rotor 523 lorsque l'utilisateur se relève à partir d'une position assise ou accroupie. L'élément élastique de rappel 524 peut comprendre un ressort précontraint, disposé entre le stator 522 et le rotor 523, dans une gorge de guidage 525 ménagée entre le stator 522 et le rotor 523.

Plus précisément, l'élément élastique de rappel 524 est agencé de sorte que :

- dans une première plage angulaire CH de déplacement du rotor 523 par rapport au stator 522, correspondant à une plage angulaire dans laquelle se trouve le rotor 523 lorsque l'utilisateur marche ou court (figure 8A), l'élément élastique de rappel 524 n'exerce aucune force de rappel sur le rotor 523, et

- dans une deuxième plage angulaire <¾ de déplacement du rotor 523 par rapport au stator 522, correspondant à une plage angulaire dans laquelle se trouve le rotor 523 lorsque l'utilisateur s'assoie ou s'accroupit (figure 8B), l'élément élastique de rappel 524 exerce une force de rappel sur le rotor 523.

A cet effet, l'articulation de hanche 52 comprend un taquet 526 monté fixe sur le rotor 523, le taquet 526 étant propre à solliciter l'élément élastique 525 en compression uniquement lorsque le rotor 523 se trouve dans la deuxième plage angulaire <¾.

Dans cette deuxième plage, la force de rappel exercée par l'élément élastique 524 tend à s'opposer à une rotation du rotor 523 par rapport au stator 522 dans un premier sens de rotation (flèche A) et à assister une rotation du rotor 523 par rapport au stator 522 dans un deuxième sens de rotation (flèche B), opposé au premier sens de rotation.

Le premier sens de rotation (flèche A) est le sens de rotation du rotor 523 par rapport au stator 522 lorsque l'utilisateur fléchit la cuisse par rapport au haut du corps (lorsque l'utilisateur s'assoit ou s'accroupit).

Le deuxième sens de rotation (flèche B) est le sens de rotation du rotor 523 par rapport au stator 522 lorsque l'utilisateur étend la cuisse par rapport au haut du corps (lorsque l'utilisateur se relève après s'être assis ou accroupi).

Autrement dit, lorsque le rotor 523 se trouve dans la deuxième plage angulaire <¾, l'élément élastique 524 exerce sur le rotor 523 une force de rappel qui tend à s'opposer à une rotation du module de hanche 5 par rapport au module de base 1 lors d'un mouvement de flexion de la hanche et à assister une rotation du module de hanche 5 par rapport au module de base 1 lors d'un mouvement d'extension de la hanche.

La première plage angulaire ai correspond à un déplacement en flexion ou en extension de la hanche compris par exemple entre +60 degrés et -15 degrés par rapport à un plan frontal PF de l'utilisateur.

La deuxième plage angulaire <¾ correspond à un déplacement en flexion ou en extension de la hanche supérieur à +90 degrés par rapport au plan frontal PF de l'utilisateur.

Ainsi, dans la première plage angulaire ai de déplacement du rotor de l'actionneur, l'utilisateur bénéficie d'une assistance active par le biais de l'actionneur 521 , tandis que dans la deuxième plage angulaire <¾ de déplacement du rotor de l'actionneur, l'utilisateur bénéficie en totalité ou en supplément d'une assistance passive par le biais de l'élément élastique de rappel 524.

De cette manière, la puissance délivrée par l'actionneur 521 est limitée dans la deuxième plage angulaire de déplacement.

L'élément élastique 524 peut venir en appui contre une butée permettant de maintenir le ressort précontraint. La position de la butée par rapport au stator peut être ajustable, par exemple à l'aide de vis, de manière à pouvoir modifier les plages angulaires définies ci-dessus.

Dispositif d'attache du module de hanche au module de base

La structure d'exosquelette comprend en outre un dispositif d'attache 8 permettant d'attacher le module de hanche 5 au module de base 1 .

Les figures 9, 10A et 10B représentent de manière schématique le dispositif d'attache 8. Dans le mode de réalisation illustré sur ces figures, le dispositif d'attache 8 est un dispositif d'attache dit « à baïonnette ». Le dispositif d'attache 8 est propre à passer d'une configuration déverrouillée (illustrée sur la figure 10A) dans laquelle le module de hanche 5 est détaché du module de base 1 , à une configuration verrouillée (illustrée sur la figure 10B) dans laquelle le module de hanche 5 est attaché au module de base 1 .

The fastening device 8 comprises a first part 81 fixedly mounted on the base module 1 and a second piece 82 fixedly mounted on the hip module 5. More precisely, the first part 81 is fixed to the

buckle 1 1. The second piece 82 is fixed to the stator 522 of the actuator 521.

The second part 82 is suitable for being snapped into the first part 81, to enable attaching the hip module 5 to the basic module 1 in a reversible manner.

The first piece 81 comprises a body 81 1 having an insertion opening 812, and having an internal guiding surface 813 of cylindrical form of revolution. The body 81 1 814 has a free circular edge delimiting the insertion opening 812. The first piece 81 includes two slots 815 formed in the body 812 at diametrically opposed positions. Each slot 815 extends from the free edge

814 of the first part 81 and has an end 816. Further, each slot 815 has a U-shape (or hairpin) and comprises two straight portions 817, 819 and a curved portion 818. The first straight portion 817 s extends from the free edge from the edge of the slot

815 to the curved portion 818, in a direction parallel to the axis X of the inner guiding surface 813. The curved portion 818 extends from the first straight portion 817 to the second straight portion 819 in forming a bend. The second straight portion 819 extends part of the curved portion to the end 816. The portions thus define a boss 831 in the body 81 1 of the first part 81.

The second part 82 comprises a body 821 having an outer guiding surface 823 of cylindrical form of revolution. The second part 82 is adapted to be inserted into the first part 81 via the opening 812. The insertion of the second piece 82 in the first part 81 is guided by the cylindrical surfaces 813 and 823 in contact with the other. The second part 82 comprises two radial pins 825 located in diametrically opposite positions, and projecting from the outer surface 823. The radial pins 825 are adapted to be engaged in the slots 815 of the first part 81 when the second part 82 is inserted into the first part 81.

The first piece 81 is adapted to be inserted into the second part 82 in a first direction (arrow C), parallel to the axis X, corresponding to an insertion direction.

The fastener 8 also comprises an elastic element of return 83, in the form of a spring adapted to bias the second part 82 in a second direction (arrow D), opposite the first direction. The elastic element 83 tends to oppose the insertion of the second piece 82 in the first part 81.

In the unlocked configuration (Figure 10A), the second piece 82 is disengaged with the first part 81.

In the locked configuration (FIG 10B), the second part 82 is engaged in the first part 81.

The locking of the attachment device 8 is achieved by inserting the second piece 82 in the first piece 81 through the insertion opening 812. During such insertion, each pin 825 is inserted into a respective slot 815.

Then the second part 82 is moved relative to the first part 81 so as to slide each pin 825 in the slot 815 in which it is received. Due to the shape of the slit 815, the sliding of the pin 825 from the entrance of the slit 815 to the end 816 of the slot 815 requires a combined movement of translation, parallel to the axis X, and rotation about the axis X, of the second part 82 relative to the first part 81. The second piece 82 is first translated relative to the first part 81 in the first direction (insertion direction) in against the restoring force exerted by the elastic member 83. Then the second part 82 is translated according to second direction, opposite to the first direction,

Once the pin 825 positioned at the end 816 of the slot 815, the second piece 82 is secured against rotation relative to the first part 81 by the boss 831. In addition, the elastic member 83 biases the second part 82 in the second direction, which has the effect of maintaining the pin 825 abuts against the end 816 of the slot 815. The elastic member 83 and the boss 831 block the pin 825 in slot 815 and prevent disengagement of the stud 815 of the slot 825.

In this way, the second part 82 is kept latched in the first part 81.

The unlatching of the second piece 82 is obtained by performing the inverse operation, that is to say by sliding each pin 815 according to the opposite direction from the end 816 of the slot 815 until the entry of the slot 815. the sliding of the pin 815 from the end 816 of the slot 815 to the entrance of the slot 815 again requires a combined movement of translation and rotation of the second part 82 relative to the first part 81 . The second piece 82 is first translated relative to the first part 81 in the first direction (insertion direction) in against the restoring force exerted by the elastic element 83 while undergoing a reverse rotation with respect to the first part 81.

Furthermore, the first part 81 and second part 82 each comprise an own electrical contacts electrically connecting the first battery 12 and the control unit 13 of the base unit 1 to the actuator when the second part 82 is in the locked configuration in the first part 81.

knee module

As illustrated in Figure 3, each knee module 6 comprises a connecting rod 61, a knee joint 62 and a tibial portion 63 adapted to be secured to the calf of the user.

The connecting rod 61 is capable of sliding inside the femoral segment 51 of one hip module 5 so as to fix the module 6 to the knee hip module 5, whilst permitting adjustment of the distance between the articulation hip 52 and the knee joint 62. a fixing screw allows to lock the connecting rod 61 relative to the femoral segment 51 1.

63 the tibial portion comprises a tibial segment 631 provided to extend along the calf of the user and fastening straps 632 adapted to surround the calf of the user to secure the segment 631 to the calf.

Once the knee module 6 attached to the hip module 5, the tibial part 51 is connected to the femoral portion 63 through the knee joint 62. The knee joint 62 permits rotation of the tibial portion 63 with respect to the femoral portion 51 in a plane parallel to the sagittal plane of the user (corresponding to a flexion or extension of the knee of the user).

The knee joint 62 may include an actuator for assisting the user during a flexion movement or extension of the knee.

The actuator of the knee joint 62 may be identical to the actuator 521 of the hip joint shown in Figures 8A and 8B. In particular, the actuator can include a stator, a rotor own to be rotated relative to the stator for rotating the knee module relative to the hip module during a flexion movement or knee extension and a resilient biassing element arranged for exerting a spring force which assists the actuator when the user gets up from a sitting or crouched position. The elastic return member may comprise a prestressed spring, disposed between the stator and the rotor, in a guide groove formed between the stator and the rotor.

Toutefois, dans le cas d'un actionneur d'articulation de genou, les plages angulaires sont différentes. La première plage angulaire CH correspond à un déplacement en flexion ou en extension du genou compris par exemple entre +15 degrés et -60 degrés par rapport à un plan frontal PF de l'utilisateur. La deuxième plage angulaire <¾ correspond à un déplacement en flexion ou en extension du genou inférieur à -60 degrés par rapport au plan frontal PF de l'utilisateur.

L'ajustement des plages angulaires peut être obtenu en modifiant la position de la butée sur laquelle s'applique le ressort, par rapport au stator.

Module de pied

Comme illustré sur la figure 3, le module de pied 7 est attaché au module de genou 6.

Le module de pied 7 comprend une barre de raccordement 71 , une articulation de cheville 72 et une partie de pied 73 propre à être fixée sur le pied de l'utilisateur.

La barre de raccordement 71 est propre à coulisser à l'intérieur du segment tibiale 631 du module de genou 6 de manière à fixer le module de pied 7 au module de genou 6, tout en autorisant un réglage de la distance entre l'articulation de genou 62 et l'articulation de cheville 72. Une vis de fixation permet d'immobiliser la barre de raccordement 71 par rapport au segment tibial 631 .

Comme illustré sur la figure 1 1 , la partie de pied 73 comprend un premier segment 731 , une première plaque d'appui 732, un deuxième segment 733, un troisième segment 734 et une deuxième plaque d'appui 735.

The ankle joint 72 permits rotation of the foot unit 7 relative to the knee module 6 during a flexion movement or extension, upon movement of pronation or supination and upon movement of eversion or inversion of the ankle of the user.

The hinge pin 72 includes a first plate 721, a second plate 722 adapted to rotate relative to the first plate 721 in a rotational movement of the foot of the user relative to the calf, and an elastic member 723 disposed between the armatures 721 and 722.

The first plate 721 is fixedly mounted on the connecting bar 71 of the foot unit 7 and the second frame 722 is fixedly mounted on the first segment 731 of the foot portion 73.

The elastic member 723 comprises a ring formed of an elastomeric material, precompressed between the first plate 721 and the second frame 722. The elastic member 723 is adapted to exert a force of

point tending to oppose the relative rotation of the second frame 722 relative to the first plate 721.

The first segment 731 connects the ankle joint 72 to the first support plate 732. Specifically, the first segment 731 has a first end fixed to the second reinforcing member 722 and a second end attached to the first backing plate 732 .

The second segment 733 and third segment 734 connecting the first support plate 732 to the second support plate 735 forming an angle between them.

The second support plate 735 may have, on its lower surface intended to be in contact with the ground, a non-slip coating, such as grooved rubber.

Figures 12A to 12D, the foot module 7 is used with a shoe 9, type "storing" or "combat shoe" for example. The shoe 9 is designed to support a load being applied to the top of the shoe 9 up to 40 kilograms. The shoe 9 may further include a protective shell of the forefoot and / or metal reinforcing elements.

As illustrated in FIG 12A, the first supporting plate 732 is provided to abut on the top of the boot 9 of the user.

The second base plate 735 is designed to bear on the ground S when the user is standing on the ground. The second supporting plate 735 is arranged so that it is disposed under the sole 91 of the shoe 9 of the user, in a recess 92 formed in the sole between the heel 93 and forefoot 94.

The first segment 731 and second segment 733 form a V-shaped spring the spring is adapted to be compressed when the sole 91 of the shoe 9 is in contact with the ground (the segments 731 and 733 are moved towards one the other) and to be relaxed when the sole 91 of the shoe 9 is not in contact with the ground S (the segments 731 and 733 are moved away from each other).

The second segment 733 and third segment 734 are interconnected by an angle within the ankle joint 72. More

Specifically, the vertical axis V passing through the center of rotation of the ankle joint 72 intersects the two segments 733 and 734, when the user is standing. This position of the segments 733 and 734 relative to the ankle joint 72 creates a deformation of the leg portion 73 downwardly, and thus ensures that the foot portion 73 tends to push the front of the boot 9, not to raise the front of the shoe.

12A to 12E show different phases of the user's walking cycle.

In FIG 12A, the sole 91 of the shoe 9 is in contact with the floor S. In this phase, the second support plate 735 is in contact with the ground S. The spring formed by the segments 731 and 733 is compressed so that the weight acting on the foot unit 7 is transferred to the ground S via the second bearing plate 735.

In FIG 12B, the heel 93 of the shoe 9 off the floor S. In this phase, the spring formed by the segments 731 and 733 relaxes. By relaxing, the spring exerts on the foot module 7 a restoring force F up assisting the user to lift the foot.

In FIG 12C, only the front 94 of the sole 91 of the shoe 9 is in contact with the ground S. The spring formed by the segments 731 and 733 is relaxed. The weight exerted on the foot unit 7 is then transferred to the shoe 9 via the first supporting plate 732. As long as the shoe 9 is in contact with the ground, the weight is transferred to the ground via the shoe 9.

In Figure 12D, once the foot lifted from the ground S, the weight is exerted mainly on the other foot module 7 to the exoskeleton structure.

In Figure 12E, the user places the heel 93 again on the ground S. In this phase, the second support plate 735 is again in contact with the ground S, which has the effect of compressing the spring formed by the segments 731 and 733. the spring formed by the segments 731 and 733 is compressed until the weight exerted on the foot module is transferred to the ground S via the second bearing plate 735.

The base module 7 can transfer the load exerted on the exoskeleton to the ground S: during walking, the load is transferred to the ground successively via the second bearing plate 735, and then via the first support plate 732 and the boot 9 of the user.

The base module 7 can be adapted to shoes commonly used by the military, without the need to modify the boot. The base module 7 can be used with a standard shoe and does not need to modify or adapt the shoe.

The base module 7 also enables to transfer the ground the load carried by the user, including during operation phases, and on any terrain.

Module de dos

Figure 13 schematically shows, in enlarged view, the back module 2.

The back module 2 comprises a spinal column segment 21, a backsplash 22 and straps 23 for fastening the mounting bracket 22 on the back of the user.

The spinal column segment 21 extends along the spine of the user when the back of module 2 is fixed to the back of the user. More specifically, the spinal column segment 21 extends between the belt 1 one of the base module 1 and the upstand 22.

The backsplash 22 includes a housing 221 and a second battery 222 housed in the housing 221.

Each shoulder module 3 is adapted to be connected to the back module 2.

The exoskeletal structure further comprises a fastening device 24 for attaching the back of module 2 to the basic module 1.

The fastening device 24 comprises third piece 241 fixedly mounted on the base module 1 and a fourth part 242 fixedly mounted on the back of the module 2. More specifically, the third piece 241 is fixed to the belt 1 1. The fourth part 242 is fixed to a lower end of the spinal column segment 21.

The fourth part 242 is adapted to be secured to the third piece 241, for example screws, for attaching the module 2 back to the base module 1.

In addition, the third part 241 and fourth part 242 comprises a base and a clean record to be inserted in the base for electrically connecting the second battery 222 back module 2 to the control unit 13 of the basic module 1 when the fourth piece 242 is secured to the third piece 241.

Segment of spine

La figure 14 illustre plus précisément le segment de colonne vertébrale 21 . Le segment de colonne vertébrale 21 comprend une pluralité d'éléments de vertèbre 21 1 empilés les uns sur les autres.

Le nombre d'éléments de vertèbre 21 1 peut être ajusté en fonction de la taille de l'utilisateur, ce qui permet d'adapter facilement la structure d'exosquelette à la morphologie de l'utilisateur.

Alternativement ou en complément, le dosseret 22 peut être monté coulissant le long du segment de colonne vertébrale 21 afin de permettre un réglage du module de dos 2.

Les éléments de vertèbre 21 1 peuvent être formés en un matériau rigide et léger, tel qu'un matériau composite à base de polyépoxyde chargé avec des fibres de carbone par exemple.

Le segment de colonne vertébrale 21 comprend en outre un ou plusieurs élément(s) flexibles de raccordement 212 permettant de raccorder les éléments de vertèbres 21 1 les uns aux autres.

Dans l'exemple illustré sur la figure 14, chaque élément flexible de raccordement 212 s'étend à l'intérieur de l'empilement, en passant à travers chacun des éléments de vertèbres 21 1 . Toutefois, en variante, le segment de colonne vertébrale 21 pourrait comprendre un élément flexible de raccordement sous la forme d'une gaine tubulaire souple enrobant les éléments de vertèbre 21 1 .

Dans l'exemple illustré sur la figure 14, chaque élément flexible de raccordement 212 est un élément allongé, tel qu'un câble ou un cordon élastique.

Chaque élément flexible de raccordement 212 présente une première extrémité raccordée au carter 221 du dosseret 22 et une deuxième extrémité raccordée à la quatrième pièce de fixation 242.

Chaque élément flexible de raccordement 212 est maintenu tendu à l'intérieur des éléments de vertèbres 21 1 de manière à exercer une force de compression longitudinale sur les éléments de vertèbre 21 1 . La force de compression a pour effet de maintenir les éléments de vertèbre 21 1 serrés en appui les uns contre les autres.

De cette manière, le segment de colonne vertébrale 21 présente une position d'équilibre stable.

Toutefois, du fait de leur élasticité, les éléments flexibles de raccordement 21 1 autorisent une déformation du segment de colonne vertébral 21 lors de mouvements du dos de l'utilisateur (mouvements de flexion et/ou de rotation radiale et/ou d'inclinaison latérale du dos), tout en exerçant sur les éléments de vertèbre 21 1 une force de rappel tendant à ramener le segment de colonne vertébrale 21 dans sa position d'équilibre stable.

Comme illustré sur la figure 15, chaque élément de vertèbre 21 1 comprend un corps 213 présentant une forme arquée, avec une concavité orientée vers le bas de la colonne vertébrale lorsque le segment de colonne vertébrale 21 s'étend le long de la colonne vertébrale de l'utilisateur et que l'utilisateur est debout.

Chaque élément de vertèbre 21 1 présente un renfoncement 214 et une protubérance 215, chaque protubérance 215 étant propre à être reçue dans un renfoncement 214 d'un autre élément de vertèbre 21 1 situé immédiatement au-dessus ou au-dessous dans l'empilement.

Chaque élément de vertèbre 21 1 est ainsi relié à l'élément de vertèbre suivant par emboîtement d'une protubérance 215 dans un renfoncement 214. Le renfoncement 214 et la protubérance 215 présentent des formes telles qu'ils autorisent un mouvement I d'inclinaison latérale de l'élément de vertèbre 21 1 par rapport au suivant. Ainsi, le renfoncement 214 et la protubérance 215 forment une liaison entre deux éléments de vertèbres 21 1 autorisant une inclinaison latérale du tronc de l'utilisateur.

Par ailleurs, chaque élément de vertèbre 21 1 présente des canaux 221 à 223 ménagés à l'intérieur du corps 213 pour le passage des éléments flexibles de raccordement 212 et pour le passage de câble(s) de transmission électrique 224.

Le module de dos 2 comprend en outre un ou plusieurs câble(s) 224 de transmission électrique ou de transmission de données s'étendant à l'intérieur du segment de colonne vertébrale 21 à travers chacun des éléments de vertèbres 21 1 , pour le raccordement de la deuxième batterie 222 et des actionneurs ou des capteurs du module de dos 2 à l'unité de commande 13 du module de base 1 .

Il est à noter que le ou les câble(s) de transmission électrique 224 présentent une longueur supérieure à la longueur du segment de colonne vertébrale 21 de sorte qu'ils autorisent une déformation du segment de colonne vertébrale 21 , sans risquer d'endommager le ou les câble(s).

Le segment de colonne vertébrale 21 permet à la fois de transmettre une charge verticale s'exerçant sur le module de dos 2 tout en autorisant une certaine liberté de mouvement de la colonne vertébrale de l'utilisateur.

Module de coude

Comme illustré sur les figures 1 à 5 et 13, chaque module de coude 4 comprend une partie humérale 41 propre à être fixée sur le bras de l'utilisateur, une articulation de coude 42 et une partie radiale 43 propre à être fixée sur l'avant-bras de l'utilisateur.

La partie humérale 41 comprend un segment huméral 41 1 propre à s'étendre le long du bras de l'utilisateur et des sangles de fixation 412 propres à entourer le bras de l'utilisateur pour fixer le segment huméral 41 1 au bras.

La partie radiale 43 comprend un segment radial 431 propre à s'étendre le long de l'avant-bras de l'utilisateur et des sangles de fixation 432 propres à entourer l'avant-bras de l'utilisateur pour fixer le segment radial 431 à l'avant-bras.

La partie radiale 43 est reliée à la partie humérale 41 par le biais de l'articulation de coude 42. L'articulation de coude 42 autorise une rotation de la partie radiale 43 par rapport à la partie humérale 41 correspondant à un mouvement de flexion ou d'extension du coude de l'utilisateur. L'articulation de coude 42 peut comprendre en outre un actionneur de coude pour assister l'utilisateur lors du mouvement de flexion ou d'extension du coude.

Module d'épaule

Les figures 16 à 18 représentent de manière schématique un module d'épaule 3.

Chaque module d'épaule 3 est propre à relier un module de coude 4 au module de dos 2.

Le module d'épaule 3 autorise un mouvement du module de coude 4 par rapport au module de dos 2 selon trois degrés de libertés, à savoir :

- une rotation du module de coude 4 autour d'un premier axe parallèle à un axe d'abduction ou d'adduction de l'épaule,

- une rotation du module de coude autour d'un deuxième axe parallèle à un axe de rotation externe ou interne de l'épaule,

- une rotation du module de coude autour d'un troisième axe parallèle à un axe de flexion ou d'extension de l'épaule.

Le module d'épaule 3 comprend un premier pivot 31 , un mécanisme à quatre barres 32, un deuxième pivot 33, une première pièce de liaison 34, un troisième pivot 35, une deuxième pièce de liaison 36, un quatrième pivot 37, une troisième pièce de liaison 38, un cinquième pivot 39, et une troisième pièce de liaison 310.

Le mécanisme à quatre barres 32 comprend une première barre 321 , une deuxième barre 322, une première articulation 325 reliant la deuxième barre 322 à la première barre 321 , une troisième barre 323, une deuxième articulation 326 reliant la troisième barre 323 à la deuxième barre 322, une quatrième barre 324, une troisième articulation 327 reliant la quatrième barre 324 à la troisième barre 323 et une quatrième articulation 328 reliant la quatrième barre 324 à la première barre 321 .

Les quatre barres 321 à 324 sont reliées entre elles par les quatre articulations 325 à 328 de manière à former un parallélogramme déformable dans un plan parallèle au plan coronal de l'utilisateur. Le mécanisme à quatre barres 32 comprend en outre un élément élastique 329, s'étendant selon une diagonale du parallélogramme et reliant la première articulation 325 à la troisième articulation 327 de manière à créer, sur les quatre barres 321 à 324, une force de rappel tendant à s'opposer à une déformation du parallélogramme due à la force de gravité s'exerçant sur le module d'épaule 3. L'élément élastique de rappel 329 est un ressort de traction dont l'une des extrémités est reliée à la première articulation 325 et l'autre des extrémités est reliée à la troisième articulation 327.

La première barre 321 est monté rotative par rapport au carter 221 du dosseret 22 par le biais de la première liaison pivot 31 , autour d'un axe sensiblement vertical.

De même, la troisième barre 323 est montée rotative par rapport à la première pièce de liaison 34 par le biais du deuxième pivot 33, autour d'un axe sensiblement vertical.

La deuxième pièce de liaison 36 est montée rotative par rapport à la première pièce de liaison 34 par l'intermédiaire du troisième pivot 35. Le troisième pivot 35 comprend un actionneur.

L'actionneur comprend un stator et un rotor propre à être entraîné en rotation par rapport au stator autour du premier axe de rotation, le premier axe de rotation étant perpendiculaire à l'axe du deuxième pivot 33. L'actionneur permet d'assister l'utilisateur lors d'un mouvement d'abduction ou d'adduction de l'épaule. A cet effet, le premier axe de rotation Xi est parallèle à l'axe d'abduction ou d'adduction de l'épaule.

La troisième pièce de liaison 38 est reliée à la deuxième pièce de liaison 36 par l'intermédiaire du quatrième pivot 37. Le quatrième pivot 37 autorise une rotation de la troisième pièce de liaison 38 par rapport à la deuxième pièce de liaison 36 autour d'un deuxième axe de rotation X2

correspondant à un mouvement de rotation externe ou interne du bras de l'utilisateur.

La quatrième pièce de liaison 310 est montée rotative par rapport à la troisième pièce de liaison par l'intermédiaire du cinquième pivot 39. Le cinquième pivot 39 autorise une rotation de la quatrième pièce de liaison 310 par rapport à la troisième pièce de liaison 38 autour d'un troisième axe de rotation X3. Le cinquième pivot 39 comprend un actionneur.

The actuator includes a stator and a clean rotor to be driven in rotation relative to the stator about the third axis of rotation X 3 , the third axis of rotation X 3 being perpendicular to the axis of fourth pivot 37. The actuator permits to assist the user during a flexion movement or extension of the shoulder. To this end, the third axis of rotation X 3 is parallel to the axis of flexion and extension of the shoulder.

The first axis of rotation X of the third pivot 35 intersects the second rotation axis X 2 of the fourth pivot 37, perpendicularly thereto. Similarly, the third axis of rotation X 3 of the fifth pivot 39 intersects the second rotation axis X 2 of the fourth pivot 37, perpendicularly thereto. However, the first rotational axis X and the third axis of rotation X 3 intersect the second axis of rotation X 2 at distinct points.

When the user's arm is at rest (that is to say that the arm extends along the body of the wearer in a standing position), the second rotation axis X 2 of the fourth pivot 37 is parallel to the axis of rotation of the second pivot 33. also, the third axis of rotation X 3 is perpendicular to the first axis of rotation X of the third pivot 35 and the second rotation axis X 2 of the fourth pivot 37.

As illustrated in Figure 17, the third connecting member 38 comprises two parts 381 and 382 mounted for sliding relative to each other through a first slide 383. The slide parts 381 and 382 to relative to each other allows a shortening or a lengthening of the third connecting member 38 during abduction or adduction of the shoulder of the user movements. The first rail 383 includes a first elastic return element tending to 384

oppose the separation of the parts 381 and 382 relative to each other, and thus a allongennent of the third connecting part 38. The first elastic return element 384 is a tension spring.

As illustrated in Figure 18, the fourth connecting part 310 includes two parts 3101 and 3102 slidably mounted relative to each other by means of a second slide 3103. The sliding of the parts 3101 and 3102 to relative to each other allows a shortening and lengthening of the fourth connecting part 310 during a rotation of the forearm of the user relative to the arm causes bending or extension of the elbow. The second slider 3103 includes a second elastic member reminder 3104 tends to oppose to the separation of parts 3101 and 3102 with respect to each other, and thus an elongation of the fourth connecting part 310. The second resilient biasing member 3104 is a tension spring.

As the rotational axes Xi, X 2 and X 3 of the shoulder module 3 does not coincide with the actual axes of rotation of the joint complex of the user's shoulder, the two slideways 383 and 3103 allow to vary the length of the third connecting piece 38 and the length of the fourth connecting part 310 in order to compensate the offset of the axes of rotation.

The fourth connecting part 310 is connected to the elbow joint of the elbow module 42 via a clamping device 10.

A fastening shoulder of the module to bend module

The exoskeleton structure comprises two attachment means 10, each attachment means 10 for attaching a shoulder module 3 to an elbow module 4.

Figure 19 schematically show the attachment device 10. In the embodiment illustrated in this figure, the clamping device 10 is an attachment device called "bayonet", similar to the attachment 8 of the device hip module 5 to the basic module 1 illustrated in figures 9, 10A and 10B.

The fastener 10 is adapted to move from an unlocked configuration in which the shoulder module 3 is detached from the elbow unit 4, in a locked configuration wherein the shoulder module 3 is attached to the bend module 4 .

The fastening device 10 comprises a first part 101 fixedly mounted on the bend module 4 and a second piece 102 rotatably mounted on the shoulder module 3.

More precisely, the first part 101 is fixed to the stator of the actuator of the elbow joint 42. The second piece 102 is rotatably mounted on the fourth connecting part 310 of the shoulder module 3 about an axis X parallel to the insertion direction of the second piece 102 in the first part 101.

The second part 102 is adapted to be snapped into the first part 101, in order to allow to attach the shoulder module 3 neck of module 4 in a reversible manner.

The first part 101 and second part 102 are identical to the first piece 81 and second piece 82 of the attachment device 8 to the hip module 5 to the basic module 1. The fastener 10 also includes an elastic member booster 103, in the form of a spring adapted to bias the second piece 102 in a direction opposite to the insertion direction of the second piece 102 in the first part 101.

Furthermore, the first part 101 and second part 102 each include independent electrical contacts to electrically connect the first battery 12 and the control unit 13 of the base unit 1 to the actuator of the articulation elbow 42 when the second piece 102 is in the locked configuration in the first part 101.

Socket module backpack

As illustrated in Figures 20 and 21, the bag holder module back 14 includes a hoop 141 and a support rod 142.

The headband 141 is adapted to be connected to the basic module 1. The hoop 143 has two opposite ends.

The bag support module back 14 also includes two ball joints 145 and two attachment devices 16 for connecting the hoop to hip modules 5.

In this way, the weight of the backpack is transferred to the lower modules, namely modules 5 hip, knee modules 6 and the foot 7 of modules, which allows the user to lighten the load applying on the back.

The support rod 142 is adapted to extend along the back of the user, parallel to the spinal column of the user. The rod 142 is own being engaged in a pocket 171 of a backpack 17 for suspending the backpack 17 to the bag holder module 14 back.

The rod 142 includes a first member 1421 stem, a second member 1422 and a rod amortisseur1423.

The first rod member 1421 is connected to the hoop 141 by a pivot 144 allowing rotation of the rod 142 relative to the headband 141. The pivot 144 allows rotation of the rod 142 relative to the headband 141 about an anterior-posterior axis of the user. The pivot 144 allows the rucksack to support module 14 to adapt to the movements of the user's pelvis during walking or running.

The second rod member 1422 is capable of sliding relative to the first rod member 1421 so as to vary a length of the rod 142.

The first element 1421 and the second shaft rod member

1422 may be formed of a synthetic material (e.g., a composite material based on polyepoxide) reinforced with carbon fibers. In addition, the second rod member 1422 may comprise an end portion formed of metal.

The first rod member 1422 can be telescopic so as to allow adjustment of the length of the rod 142.

The damper 1423 is adapted to dampen movement of the second rod member 1422 relative to the first element 1421 rod caused by walking of the user.

The damper 1423 and reduces the jerks caused by movements of the backpack 17 on the exoskeleton structure when the user is walking, running or jumping.

To this end, the damper 1423 includes a cylinder 1424 fixed to the first member 1421 rod, a piston 1425 fixed to the second element 1422 and rod capable of sliding inside the cylinder 1424, and an elastic member 1426 disposed between the first element 1421 and second shank 1422 rod member.

1425 piston defines inside the two chambers 1427 and 1428 1424 cylinder containing a fluid, the sliding of the piston 1425 inside the cylinder 1424 causing compression of the fluid contained in one of the B 1427, and a transfer from fluid to the other chamber 1428.

The elastic member 1426 preferably has a stiffness greater than or equal to 2000 Newtons per meter. Such stiffness eliminates the phenomena of amplification of the oscillations of the backpack that may occur in the case where the mass-spring system formed by the backpack 17 and the elastic member 1426 come into resonance when the walking or running to the user.

Furthermore, the shock absorber 1423 can have an adjustable damping rate which allows to adapt the damping to the weight of the backpack. Indeed, the weight of the backpack can vary depending on the type of task carried out by the user. The adjustment of the damping rate can be obtained by changing the total volume of 1427 and 1428 B (e.g. using a screw) so as to adjust a damping rate of the damper.

The backpack storage module 14 further includes a bellows 1429 protective seal connecting the first rod member 1421 to the second rod member 1422. The bellows 1429 and sealing

allows an elongation of the stem 142 while preventing the penetration of liquid or debris within the rod 142 and the shock absorber 1423.

Furthermore, the bag support module back 14 may include a force sensor to measure the mass of the bag 17 worn. The force sensor may be a strain gauge force transducer in compression. The sensor may be disposed in the lower portion of the shaft 142 above the 1423 damper.

An attachment device of the backpack carrier module to hip module

22 shows schematically a fastening device 16 for connecting one end 143 of the shackle 141 to the hip of modules 5.

In the embodiment illustrated in this figure, the attachment device 16 is a fastening device said "bayonet", similar to the attachment device 8 to the hip module 5 to the basic module 1 illustrated in Figures 9 , 10A and 10B.

The fastener 16 is adapted to move from an unlocked configuration in which the back 14 to bag module is detached from the hip module 5, in a locked configuration wherein the bag module back 14 is attached to the module 5 hip.

The fastening device 16 comprises a first part 161 fixedly mounted on the hip module 5, and a second part 162 mounted mobile in rotation and in translation on the bag support module 14 back.

More precisely, the first part 161 is fixed to the stator 522 of the actuator 521 of the hip joint 52. The second piece 102 is rotatably mounted on the cradle 141 through the ball joint 145. The second part 162 is also slidably mounted with respect to the ball joint 145 along the axis X.

The second part 162 is adapted to be snapped into the first part 161, in order to allow to attach the bag support module 14 back to the hip module 5 reversibly and therefore to the basic module 1.

The first part 161 and second part 162 are identical to the first piece 81 and second piece 82 of the attachment device 8 to the hip module 5 to the basic module 1. The fastening device 16 also comprises an elastic member booster 163, in the form of a spring adapted to bias the second part 162 in a direction opposite to the insertion direction of the second piece 162 in the first part 161.

In this manner, the hoop 141 is secured at each of its ends 143 to hip joints 52 hip modules 4. The weight of the back bag 17 is thus transferred to the ground through the lower modules, namely modules 5 hip, knee modules 6 and 7 foot modules.

CLAIMS

Modular exoskeletal structure for assistance in the effort of a user, comprising a base module (1) comprising a waist belt (1 1) adapted to surround the bottom of the wearer's trunk, two modules hip (5) adapted to be fixed to two respective thighs of the wearer, and a support module backpack (14), comprising:

- a bracket (141) to be secured to the hip of modules (5),

- a supporting rod (142) intended to extend along the back of the user and able to be engaged in a pocket (171) of a backpack

(17) for suspending the backpack backpack carrier module (14), wherein the rod (142) comprises a first shaft member (1421) connected to the headband (141), a second element pin (1422) adapted to slide relative to the first shaft member (1421) so as to vary a length of the rod (142), and a shock absorber (1423) for damping movement of the second rod member (1421) by relative to the first rod member (1422) caused by walking of the user.

2. Structure according to claim 1, wherein the first shaft member (1421) is connected to the hoop (141) by a pivot connection (144) allowing rotation of the rod (142) relative to the hoop ( 141).

3. Structure according to claim 2, wherein the pivot link (144) permits rotation of the rod (142) relative to the bar (141) about an antero-posterior axis of the user to accommodate swaying side of the rucksack (17) during walking or running.

4. Structure according to one of claims 1 to 3, wherein the damper (1423) comprises an elastic member (1426) arranged between the first rod member (1421) and the second rod member (1422).

5. Structure according to claim 4, wherein the elastic member (1426) has a stiffness greater than or equal to 2000 Newtons per meter.

6. Structure according to one of claims 1 to 5, wherein the damper (1423) comprises a cylinder (1424) and a piston (1425) capable of sliding inside the cylinder (1424), the piston (1425 ) delimiting within the cylinder (1424) at least one chamber (1427, 1428) containing a fluid, the sliding of the piston (1425) inside the barrel (1 424) causing compression of the fluid contained in the chamber ( 1427, 1428).

7. Structure according to claim 6, wherein the backpack carrier module (14) comprises means for modifying a chamber volume so as to adjust a damping rate of the damper (1423).

8. Structure according to one of claims 1 to 7, wherein the backpack carrier module (14) comprises a bellows protection seal (1429) connecting the first shaft member (1421) to the second shaft member (1422), and authorizing an elongation of the rod (142) and / or a rotation of the rod (142) relative to the bar (141) while preventing the penetration of liquid or debris within the rod (142) or the damper (1423).

9. Structure according to one of claims 1 to 8, wherein the backpack carrier module (14) comprises an attachment part (162) for attaching the bracket (141) to another module (5 ) of the exoskeletal structure, the attachment part (162) being adapted to be snap-fitted into a complementary fastening member (161) fixedly mounted on the other module (5).

10. Structure according to claim 9, wherein the attachment part (162) is mounted mobile in rotation and in translation on the bar (141) through a ball joint (145).

11. Structure according to one of claims 9 and 10, wherein the attachment part (162) forms with the complementary attachment part (161) a bayonet fastening device, wherein one of the parts 'fastener (161, 162) comprises a radial pin, and the other attachment member (161, 162) comprises a curved slot in which the radial pin can slide, the slot being curved so that the sliding of the pin in the slot from an inlet of the slot to an end of the slot requires a combined movement of translation and rotation of the second part relative to the first part, the translation being carried out successively in a first direction (C), then in a second direction (D), opposite the first direction.

12. Structure according to one of claims 1-1 1, wherein the second rod member (1422) is telescopic.

13. Structure according to one of claims 1 to 12, wherein the second rod member (1422) is formed of a synthetic material reinforced with carbon fibers.

14. Structure according to one of claims 1 to 13, wherein the second rod member (1422) comprises an end portion formed of metal.

15. Structure according to one of claims 1 to 14, wherein the backpack carrier module (14) comprises a force sensor to measure the weight of the backpack (17) when the backpack (17) is suspended from the backpack unit (14).

16. Structure according to one of claims 1 to 15, comprising two fastening devices (16) for attaching the backpack support module (14) to the hip modules (5), each fastening device (16 ) comprising a first part (161) attached to one hip modules (5) and a second part (162) connected to one end of the headband (141), the second part (162) being adapted to be snapped in the first part (161) for securing the bar (141) to the hip of modules (5).

17. Structure (14) according to one of claims 1 to 16 in combination with a backpack (17) comprising a pocket (171) in which can be engaged the support rod (142) for suspending the backpack (17) to the support module backpack (14).