STRUCTURED ASSEMBLY

Description

Technical field

[0001] The present disclosure relates to the field of articulated assemblies used in active or passive prostheses. More particularly, the present disclosure relates to the field of foot prostheses. EP 1 718 252 B1 is considered to be the closest prior art.

[0002] Prosthetics, whether active or passive, aim to compensate for the disability of amputees by ensuring the function(s) of the amputated limb. For example, depending on the degree of amputation, a prosthetic foot must potentially ensure the function of the calf, the foot lift muscles, or even the function related to the Achilles tendon. In addition, prostheses, particularly active prostheses, must also integrate a controller and a battery in order to replace the control function normally provided by the brain and to compensate for the energy expenditure normally provided by the metabolism.

[0003] Thus, active prostheses generally include a linear electric actuator composed of a motor-screw group. This actuator is generally placed in series with a spring element acting as an artificial Achilles tendon and making it possible to reduce the power peak to be provided by the actuator during use, the actuator / spring pair being known as "Series Elastic Actuator".

[0004] Many solutions have been proposed by the prior art to meet the needs of people affected by an amputation, in particular the need for comfort, compactness, autonomy of the prosthesis and adaptability to the characteristics of the user. However, the solutions proposed by the prior art generally do not allow the aforementioned needs to be properly addressed and many drawbacks remain. For example, in the case of foot prostheses, the springs constituting the artificial Achilles tendon do not always have a stiffness specifically adapted to a patient or are difficult to adapt to the mass of each patient.

[0005] Furthermore, the architectural choices of the prior art solutions may limit the integration of all the components necessary for the production of an active prosthesis (including for example a motor, electronics, a battery, an artificial Achilles tendon such as a spring) in an envelope of design reasonably identical to the volume of the absent limb, or may further limit the integration of a number of battery cells compatible with an autonomy of one day or more, for the benefit of patients.

[0006] This disclosure improves the situation.

[0007] An articulated set is thus proposed which can include: an input element, an output element, a torsion bar capable of deforming around a longitudinal axis of the torsion bar, actuating means, wherein the input element is rotatably coupled to a first zone of the torsion bar and the output element is rotatably coupled to a second zone of the torsion bar, spaced from said first zone, the input element being further connected to the actuating means, the input element and the output element being guided in rotation relative to each other along an axis of the torsion bar.

[0008] Advantageously, such an articulated assembly makes it possible to obtain a compact energy accumulation and restitution system, through the torsion bar, in particular when used within a prosthetic or orthotic device. Such a structure makes it possible to reduce the size of the assembly, so as to be able to more easily integrate other elements, such as one or more batteries, circuits, one or more motors, etc.

[0009] The input element and the output element can be connected to the first zone and the second zone of the torsion bar respectively by means of embedding connections.

[0010] The torsion bar may have a stiffness value between 100 and 10,000 Nm per radian, preferably between 100 and 2,000 Nm per radian.

[0011] The torsion bar, input member and output member can be configured so that the torsion bar is removable.

[0012] Thus, the torsion bar can be easily replaced when it is damaged or when it is necessary to adapt the stiffness of the torsion bar. Advantageously, when the articulated assembly is integrated into a prosthesis (e.g. active), it is possible to adapt the stiffness of the torsion bar according to the morphology or physiognomy of the patient. For example, it is possible to have classes of torsion bars, where each class is adapted to a physiognomy of a patient, such as for example its mass.

[0013] The assembly may comprise a base articulated relative to the input element, the base supporting the actuating means.

[0014] The actuating means may comprise a linear actuator configured to move an actuating member capable of being moved along a non-collinear actuating axis, for example perpendicular, to the axis of the torsion bar, the movement of the actuating member causing the rotation of the input element relative to the output element.

[0015] The linear actuator may be a hydraulic cylinder, a pneumatic cylinder, a screw-nut system driven by a motor, for example of the ball screw type or planetary roller screw or also called satellite roller screw, an electric motor, etc. Thus, according to one example, when the linear actuator is a screw-nut system, the actuating member may correspond to a screw set in motion by the nut driven by the motor. According to another example, when the linear actuator is a screw-nut system, the actuating member may correspond to a nut set in motion by a screw driven by the motor.

[0016] The motor-driven screw-nut system may include a driving pulley coupled to the motor and a driven pulley coupled to the screw, the driving pulley and the driven pulley being connected by a drive belt.

[0017] The maximum power supplied by the actuator can be between 50 and 1000 Watts, in the case of use for a prosthesis and when walking.

[0018] The total volume of the actuator and / or the total volume of the motor with a screw-nut system can be between 100 and 1500 cm 3< .

[0019] The actuating member may be in pivot or ball joint connection with the input element.

[0020] The pivot connection between the actuating member and the input element can be achieved through a bearing, for example a plain bearing, a bearing (ball, roller or needle), a rod end. The pivot axis can be fixed by shrink fitting or by split elastic rings.

[0021] The actuating means may be mounted directly or indirectly on or in the base. By indirect means, it may be understood that an additional element is arranged between the actuating means and the base.

[0022] Control means, such as a control unit, can be used to control the various elements of the prosthetic or orthotic device; these control means can be mounted on and / or in the base. The control means can also be mounted on the actuation assembly.

[0023] The linear actuator may be hinged to the base by a pivot connection whose pivot axis is parallel to the axis of the torsion bar and in which the torsion of the torsion bar or the rotation of the input element causes the linear actuator to rotate relative to the base about the pivot axis.

[0024] In one or more embodiments, at least one spring may be comprised between the linear actuator and the base, the at least one spring may be configured to compress or relax upon relative movement between the linear actuator and said base.

[0025] Advantageously, it is then possible to adjust an overall stiffness value of the articulated assembly at the torsion bar. In one or more embodiments, the at least one spring can be configured so that the overall stiffness at the torsion bar can be between 100 and 10,000 Nm per radian.

[0026] Advantageously, taking into account all the components in the calculation of the equivalent stiffness of the system brought back to the axis of the torsion bar allows the reduction of the power peak at the engine level.

[0027] Furthermore, the fact that several components contribute, in series, to the overall stiffness makes it possible to precisely adjust the stiffness of the torsion bar as well as its fatigue resistance.

[0028] In one or more embodiments, a first end of the torsion bar forms the first zone and a second end of the torsion bar forms the second zone, said torsion bar being configured to deform by torsion in a working portion comprised between the first zone and the second zone, the input element and the output element respectively comprising a first tubular section and a second tubular section configured to fit into each other mutually forming a tubular body housing the torsion bar,the first tubular section of the input element comprising a first inner coupling surface at a first end of the tubular body configured to be rotationally coupled with the first area of the torsion bar about the axis of the torsion bar and the second tubular section of the output element comprising a second inner coupling surface at a second end of the tubular body configured to be rotationally coupled with the second area of the torsion bar, about the axis of the torsion bar and wherein the first tubular section and the second tubular section respectively comprise first guide surfaces, respectively inside and outside the first tubular section and the second tubular section, or vice versa, the first guide surfaces being arranged in an intermediate position between the first end and the second end of the tubular body,the first inner and outer guide surfaces being configured to provide rotational guidance of the output element relative to the input element around the axis of the torsion bar.,

[0029] By second end of the tubular body, it may be understood a second end opposite the first end of the tubular body.

[0030] The guide surfaces can provide guidance by direct contact or can be achieved by means of a bearing, such as a ring, a bushing or a rolling bearing.

[0031] The output element may comprise a second part, distinct from the second tubular section, in pivot connection with the first tubular section of the input element, by second guide surfaces respectively external and internal to the first tubular section and to the second part, arranged at the first end of the tubular body.

[0032] The tubular body extending between the first end and the second end may fully accommodate the torsion bar, the torsion bar preferably being of the same length as the tubular body along the axis of the torsion bar.

[0033] Thus, advantageously, it is possible to obtain a very compact energy accumulation and restitution system, ideal for many devices such as large orthopedic devices (prostheses and orthoses), or even robotic devices (eg cobot or exoskeleton).

[0034] The present disclosure also relates to a prosthetic device according to the present disclosure, the prosthetic device possibly comprising: the base is a tibial base intended to be fixed to a stump, for example through a socket, the tibial base incorporating the actuation means, a ground support blade configured to pivot relative to the base around the axis of the torsion bar, and wherein the input element is connected to an output of the actuating means and the output element is connected to the ground support blade, the torsion bar being configured, when walking, to store energy by twisting the torsion bar, and to restore it for propulsion simultaneously with the work of the actuating means.

[0035] Such a structure makes it possible to reproduce more faithfully the biomechanical characteristics of a human ankle and in particular its propulsive nature.

[0036] The tibial base may comprise a hollow body receiving the actuation means.

[0037] Advantageously, this base can protect the actuation means, and be the subject of design work to improve the aesthetics of the system for the benefit of patients.

[0038] The hollow body of the tibial base can also incorporate control means such as a control unit for controlling the various elements of the prosthetic device.

[0039] The tibial base may have a longitudinal direction perpendicular to the torsion bar, the actuating means comprising a motor and a screw-nut system, the screw-nut system and the motor being arranged in overlapping fashion along the longitudinal axis.

[0040] Advantageously, such an arrangement makes it possible to increase the compactness of the prosthetic device, to limit its height in order to address a greater number of patients whose stump length and size are variable, without sacrificing the performance required for the actuation means.

[0041] The motor-driven screw-nut system may include a driving pulley coupled to the motor and a driven pulley coupled to the screw, the driving pulley and the driven pulley being connected by a drive belt.

[0042] A space may be provided between the torsion bar and the support plate, so as to receive an autonomous energy source, for example removable, for the actuating means.

[0043] Thus, advantageously, it is possible to reduce the overall size of the prosthetic device by avoiding the battery being placed on the outside of the device. In addition, the battery can thus be concealed in an envelope, for example an aesthetic envelope in the shape of a foot, intended to be worn.

[0044] The present disclosure also relates to a large orthopedic device comprising at least one articulated assembly according to the present disclosure.

[0045] The present disclosure also relates to an articulated system comprising at least one articulated assembly of the aforementioned type, in which the articulated system comprises at least a first section and a second section articulated relative to each other, the first section forming the input element of the articulated assembly, the second section forming the output element of the articulated assembly. Brief description of the drawings

[0046] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which: [ Fig. 1a ] schematically illustrates a perspective view of the articulated assembly of the present disclosure. [ Fig. 1b ] schematically illustrates an exploded view of the articulated assembly of the present disclosure. [ Fig. 1c ] schematically illustrates a sectional view along the ZY plane of the articulated assembly of the present disclosure. [ Fig. 2a ] schematically illustrates a perspective view of a prosthetic apparatus such as a foot prosthesis comprising the articulated assembly of the present disclosure. [ Fig. 2b ] schematically illustrates a side view along the ZX plane of a prosthetic device such as a foot prosthesis comprising the articulated assembly of the present disclosure. Fig. 2c] schematically illustrates a sectional view along the ZY plane of a prosthetic device such as a foot prosthesis comprising the articulated assembly of the present disclosure. Description of the embodiments

[0047] THE Figures 1a, 1b , And 1c schematically illustrate the articulated assembly, following a perspective view, an exploded view, and a sectional view.

[0048] In reference to the Figures 1a to 1c , the articulated assembly 101 may comprise an input element 103, an output element 105, a torsion bar 107 capable of deforming around a longitudinal axis 120 of the torsion bar and actuating means. The input element 103 may comprise a tubular section from which extends a connecting rod forming for example an articulation yoke. In particular, the free end of the arm may comprise an orifice intended for mounting an articulation.

[0049] The tubular section of the input element 103 can be rotationally coupled to a first region 107a of the torsion bar 107 and the output element 105 can be rotationally coupled to a second region 107b of the torsion bar. The input element 103, in particular the arm, can be connected to the actuating means and the input element and the output element 105 can be guided in rotation relative to each other along the axis 120 of the torsion bar.

[0050] For example, the torsion bar 107 may include a first end forming the first region of the torsion bar and may include a second end forming the second region of the torsion bar. The first region and the second region of the torsion bar may be cylindrical.

[0051] The torsion bar 107 may comprise a working portion 107c, for example cylindrical, comprised between the first end and the second end of the torsion bar 107 and configured to deform by torsion. The first zone 107a and the second zone 107b of the torsion bar 107 may have a larger section or diameter than the section or diameter of the working portion 107c.

[0052] The stiffness of the torsion bar 107 can be between 100 and 10,000 Nm per radian, allowing the articulated assembly 101 to address a large number of applications.

[0053] In one or more embodiments, the working portion 107c may have a length of between 20 and 70 mm. The diameter of the working portion is, for example, between 5 and 15 mm.

[0054] Furthermore, the input element 103 and the output element 105 of the articulated assembly 101 may respectively comprise a first tubular section 103a, for example cylindrical, and a second tubular section 105a, for example cylindrical, configured to fit into one another, mutually forming a tubular body 110 housing the torsion bar 107. A connecting rod extends from the tubular section 105a, the free end of said connecting rod comprising an orifice intended for the passage of an articulation axis, not shown.

[0055] The first tubular section 103a of the input element 103 may comprise a first inner coupling surface S1 at a first end 110a of the tubular body configured to be rotationally coupled with the first area 107a of the torsion bar 107, about the axis 120 of the torsion bar 107.

[0056] Likewise, the second tubular section 105a of the output element 105 may comprise a second coupling surface S2, interior to a second end 110b of the tubular body 110 configured to be rotationally coupled with the second zone of the torsion bar 107, around the axis 120 of the torsion bar 107.

[0057] For example, the first surface S1 and the second surface S2 may be coupled in rotation with the first zone 107a and the second zone 107b respectively by means of respective embedding connections. The embedding connections may be made by means of complementary grooves between the first surface S1 and the first zone 107a as well as the second surface S2 and the second zone 107b. The embedding connections may be made by means of polygonal shapes, for example square or hexagonal, complementary between the first surface S1 and the first zone 107a as well as between the second surface S2 and the second zone 107b. A translational stop between the parts concerned may be provided by any suitable means, preferably removable.

[0058] The use of grooves and removable translation stop means can make it possible to have a removable torsion bar 107 which can thus be changed depending on its wear, the physiognomy or morphology of the patient, or even the evolution of the physiognomy or morphology of the patient.

[0059] Rather than using splines for embedment connections, it may be possible to use any other type of obstacle transmission between a shaft and a hub, for example a square, hexagonal, polygonal, pinned, serrated, conical or biconical assembly.

[0060] The length of each tubular section 103a, 105a may be between 20 and 70 mm. Similarly, the diameter of each tubular section may be between 10 and 40 mm.

[0061] The tubular body extending between the first end 110a and the second end 110b may fully accommodate the torsion bar 107. The torsion bar may be of the same length as the tubular body along the axis 120 of the torsion bar 107.

[0062] Furthermore, the first tubular section 103a and the second tubular section 105a may respectively comprise first guide surfaces S3, respectively inside and outside the first tubular section 103a and the second tubular section 105a, or vice versa. For example, the first surfaces may comprise the inner surface of the first tubular section 103a and the outer surface of the second tubular section 105a which are in contact S3 so as to ensure rotational guidance of the output element relative to the input element around the axis 120 of the torsion bar 107.

[0063] In one or more embodiments, conversely, the first tubular section 103a may include an exterior surface in contact with an interior surface of the second tubular section 105a so as to allow guided rotation of the input member relative to the output member.

[0064] These first guide surfaces can be arranged in an intermediate position between the first end 110a and the second end 110b of the tubular body 110.

[0065] Furthermore, the output element may comprise a second part 109, distinct from the second tubular section 105a, comprising an annular zone in pivot connection with the first tubular section 103a of the input element. The pivot connection may be achieved by second guide surfaces S4 respectively external and internal to the first tubular section 103a and to the second part, and which may be arranged at the first end of the tubular body. A connecting rod extends from the annular zone, the free end of the connecting rod comprising an orifice intended for the passage of a hinge pin, not shown.

[0066] The input element 103, in particular the free end of the connecting rod of the input element, can be connected 115 to actuating means (not shown in the Figures 1a-1c ) by a pivot link.

[0067] The actuating means may comprise a linear actuator configured to move an actuating member capable of being moved along an axis 220 perpendicular to the axis 120 of the torsion bar 107.

[0068] For example, the linear actuator may be a screw jack, comprising a motor comprising an output shaft, the output shaft being driven in rotation and being coupled to a speed reducer, for example of the screw-nut type, the screw being coupled to the output shaft of the motor, possibly via a pulley system, or forming the output shaft of the motor. The rotation of the screw causes the translational movement of the nut, along the axis of the screw 203. The nut is articulated relative to the free end of the connecting rod of the input element, via the axis XX.

[0069] The various elements included in the articulated assembly can be metallic.

[0070] Such an articulated assembly can be used within a device such as an articulated system comprising one or more articulated assemblies, in large orthopedic devices (prostheses or orthoses, for example for the foot or knee), or even in robotics, for example in cobots or exoskeletons.

[0071] For example, the articulated system may be a cobot such as an articulated arm used in cobotics, wherein each joint of the robotic arm may comprise one or more articulated assemblies arranged in series or in parallel according to the present disclosure.

[0072] According to another example, such an articulated assembly 101 can be integrated into an active foot prosthesis, the articulated assembly 101 then fulfilling the function of an Achilles tendon.

[0073] THE Figures 2a to 2c schematically illustrate a prosthetic apparatus such as a foot prosthesis comprising the articulated assembly of the present disclosure.

[0074] There Figure 2a corresponds to a perspective view, the Figure 2b to a side view of the foot prosthesis according to the ZX plane, and the Figure 2c illustrates a sectional view ZY along a plane including the axis of the torsion bar 107.

[0075] In reference to the Figures 2a And 2b , the foot prosthesis 200 may comprise the articulated assembly mounted in a tibial base 201 intended to be fixed to a stump through a socket. For example, the tibial base 201 may be in the form of an inverted U-shaped support comprising at its top a base from which two side walls extend downwards. A pyramidal adapter 211 extends upwards from the base. Said adapter has for example a pyramid shape with a polygonal base, in particular a square one, allowing fixing on a stump of a person through a socket.

[0076] Furthermore, the output element 105 can be connected (e.g. directly or indirectly) to a ground support blade 205 (i.e. equivalent to the arch of a foot) configured to pivot relative to the tibial base around the torsion axis 120 when walking.

[0077] The ground support blade can be a blade made of composite material, for example based on carbon fibers, glass, Kevlar

[0078] The ground support blade can be configured so that its bending contributes to the equivalent stiffness of the entire system related to the axis of the torsion bar.

[0079] Each wall 201a; 201b of the tibial base can be pivotally mounted on the tubular body 110 and between the two ends of the tubular body 110a; 110b. More precisely, each wall 201a; 201b can have an orifice whose internal edge delimits a cylindrical surface guided in rotation, for example by means of pads or rings or even bearings, on complementary cylindrical surfaces formed by shoulders of the first tubular section 103a of the input element. The base is thus in pivot connection with the tubular body 110 which comprises the input element, the output element and the torsion bar. Obviously, other types of connection can be envisaged.

[0080] In addition, the tibial base 201 may delimit a hollow zone, in which the actuation means are housed in particular.

[0081] In one or more embodiments, control means such as a control unit for controlling the various elements of the prosthetic device may also be mounted on the tibial base 201, for example in the hollow area.

[0082] Such an arrangement of the actuation means and / or the control means in the tibial base 201 makes it possible to increase the compactness of the artificial foot, an important criterion for any wearer of an active prosthesis.

[0083] Furthermore, the linear actuator may be a motor 207 driving a screw-nut system as described above. The motor 207 may comprise a body and an output shaft intended to be driven in rotation, and coupled to a driving pulley 209a. The screw-nut system also comprises a body in which the nut is pivotally mounted, the nut being engaged on the screw 203. The body is articulated on the tibial base 201, at a pivot axis 213, perpendicular to the axis of the screw, and parallel to the axis 115 and to the axis 107b. The body of the motor is fixed relative to the body of the screw-nut system. The nut is also coupled to a driven pulley 209b. The driving pulley 209a is capable of driving the driven pulley, via a belt for example (not shown).

[0084] Rotation of the motor shaft 207 causes rotation of the nut of a planetary roller screw (also called a satellite roller screw) or a ball screw internal to the body, through the pulleys 209a, 209b and the belt and, thus, translation of the screw along the rotating nut, causing rotational movement of the input element 103 relative to the output element 105 through the torsion bar 107.

[0085] In one or more embodiments, the pulley and belt system may be replaced by a gear system, for example a spur, bevel, or helical gear. Alternatively, the motor shaft may directly drive the screw of the screw-nut system. In yet another embodiment, the motor shaft may directly drive the nut of the screw-nut system.

[0086] In one or more embodiments, the total volume comprising the linear actuator and the driving / driven pulley pair may be between 100 and 1500 cm 3 for a maximum power supplied by the motor of between 100 and 1500 Watts.

[0087] According to one or more examples, the pivot connection 115 between the actuating member 203 and the input element 103 can be made through a bearing, such as for example a plain bearing or a bearing for example a ball, roller or needle bearing.

[0088] In order to allow the rotation of the input element 103 relative to the tibial base 201 and / or to allow the torsion bar 107 to twist when a wearer of the foot prosthesis is walking, the linear actuator pivots relative to the base 201 according to the pivot connection 213. The torsion of the torsion bar 107 causes the rotation of the linear actuator 207 relative to the base around the pivot connection 213. The torsion of the torsion bar 107 makes it possible to store energy which will then be delivered during the rest of the movement.

[0089] The power supply of the artificial foot, in particular the actuation means, can be carried out via an autonomous energy source 230 included in the foot prosthesis. In one or more embodiments, the autonomous energy source can be arranged within a space located between the torsion bar 107 and the ground support blade. The housing of an autonomous energy source between the torsion bar 107 and the support blade is made possible by the compactness of the interlocking of the articulated assembly comprising the input element, the torsion bar 107 and the output element connected to the support blade.

[0090] In one or more embodiments, the self-contained power source 230 may be a battery, such as a lithium battery.

[0091] In one or more embodiments, the total volume of the battery may be between 100 and 300 cm 3< .

[0092] Thus, such an arrangement within a prosthesis, such as a foot prosthesis, makes it possible to obtain an active foot prosthesis which is compact while being robust and which also has sufficient autonomy for the daily life of a foot prosthesis wearer.

[0093] In such an arrangement, the deformation of the torsion bar 107 occurs during the stance phase, that is to say when the tibia passes over the foot, like an Achilles tendon. The torsion bar 107 then releases the stored energy, thus helping the motor to provide the torque necessary for the propulsion of walking during the push-off phase.

[0094] More specifically, during the support phase via the ground support blade, the twisting of the torsion bar 107 by the rotation of the input element relative to the output element stores energy. At the same time as the twisting (or deformation) of the torsion bar 107, the motor drives the screw so as to allow the deformation of the torsion bar 107. At the moment of the transfer of the weight of the prosthesis wearer from one leg to the other, the motor pulls on the input element by raising the screw so as to engage the propulsion, and due to the tilting of the weight, the stored energy can be restored, by releasing the torsion bar 107, for the propulsion, simultaneously with the work of the motor.

[0095] Optionally, and in one or more embodiments, at least one spring, for example a tension spring, may be disposed between the linear actuator and the base. The spring may be configured to extend or compress upon relative movement between the linear actuator and the base.

[0096] For example, the rotation of the tibial base 201 around the pivot point, during walking, can cause the traction of a spring located between the tibial base 201 and the driving / driven pulley pair. The use of this spring in series with the torsion bar 107 makes it possible to vary the overall stiffness of the prosthetic device by adjusting the stiffness of the spring, the overall stiffness of the prosthetic device being brought back to the level of the torsion bar 107.

[0097] In one or more embodiments, other configurations of the spring or the location of the spring may be possible.

[0098] Furthermore, generally, in one or more embodiments, it is possible to improve the irreversibility of the planetary roller screw-nut assembly by modifying the slope of the threads, by making the thread asymmetrical, by alternating asymmetrical and symmetrical threads between screws, rollers and nuts or by adding friction-increasing seals.

Claims

1. Articulated assembly (101) comprising: - an input element (103), - an output element (105;109), - actuation means, the input element (103) further being connected to the actuation means, the input element (103) and the output element (105) being guided in rotation relative to one another, characterized in that the articulated assembly comprises a torsion bar (107) capable of deforming about a longitudinal axis (120) of the torsion bar (107), wherein the input element (103) is rotationally coupled to a first zone (107a) of the torsion bar (107) and the output element (105) is rotationally coupled to a second zone (107b) of the torsion bar (107), the input element (103) and the output element (105) being guided in rotation relative to one another along the axis (120) of the torsion bar (107).

2. Articulated assembly according to the preceding claim, wherein the input element (103) and the output element (105) are respectively connected to the first zone and to the second zone of the torsion bar (107) via embedding connections.

3. Articulated assembly according to any one of the preceding claims, wherein the torsion bar (107) has a stiffness value of between 100 and 10,000 N.m per radian.

4. Articulated assembly according to any one of the preceding claims, wherein the torsion bar (107), the input element (103), and the output element (105) are configured so that the torsion bar (107) is removable.

5. Articulated assembly according to any one of the preceding claims, wherein the assembly comprises a base that is hinged relative to the input element (103), the base supporting the actuation means.

6. Articulated assembly according to any one of the preceding claims, wherein the actuation means comprise a linear actuator configured to move an actuating member capable of being moved along an actuation axis that is non-collinear, for example perpendicular, to the axis of the torsion bar (107), the movement of the actuating member causing rotation of the input element (103) relative to the output element (105).

7. Articulated assembly according to the preceding claim, wherein the actuating member is in a pivoting or ball joint connection with the input element (103).

8. Articulated assembly according to the preceding claim, wherein the input element (103) is connected to the base by a pivoting connection.

9. Assembly according to the combination of claims 5 to 8, wherein the linear actuator is hinged to the base in a pivoting connection in which the pivot axis is parallel to the axis of the torsion bar (107) and in which the torsion of the torsion bar (107) or the rotation of the input element (103) causes rotation of the linear actuator relative to the base about the second pivot axis.

10. Assembly according to claim 9, comprising at least one spring between the linear actuator and the base, said at least one spring being configured to compress or relax during relative movement between the linear actuator and said base.

11. Articulated assembly according to the preceding claim, wherein the at least one spring is configured so that the overall stiffness is between 100 and 10,000 N.m per radian.

12. Articulated assembly according to any one of claims 2 to 11, wherein a first end of the torsion bar (107) forms the first zone (107a) and a second end of the torsion bar (107) forms the second zone (107b), said torsion bar (107) being configured to deform by torsion in a working portion (107c) that is between the first zone and the second zone, the input element (103) and the output element (105) respectively comprising a first tubular section (103a) and a second tubular section (105a) which are configured to fit into each other, together forming a tubular body (110) housing the torsion bar (107), the first tubular section (103a) of the input element (103) comprising a first internal coupling surface at a first end of the tubular body, configured to be rotationally coupled with the first zone of the torsion bar (107) about the axis of the torsion bar (107), and the second tubular section (105a) of the output element (105) comprising a second internal coupling surface at a second end of the tubular body, configured to be rotationally coupled with the second zone of the torsion bar (107) about the axis of the torsion bar (107), and wherein the first tubular section (103a) and the second tubular section (105a) respectively comprise first guide surfaces, respectively internal and external to the first tubular section (103a) and to the second tubular section (105a), or vice versa, the first guide surfaces arranged in an intermediate position between the first end and the second end of the tubular body, the internal and external first guide surfaces configured to ensure guidance in rotation of the output element (105) relative to the input element (103) about the axis of the torsion bar (107).

13. Articulated assembly according to claim 12, wherein the output element (105) comprises a second portion, distinct from the second tubular section (105a), in pivoting connection with the first tubular section (103a) of the input element (103), via second guide surfaces which are respectively external and internal to the first tubular section 103a and to the second portion, arranged at the first end of the tubular body.

14. Articulated assembly according to the preceding claim, wherein the tubular body extending between the first end and the second end entirely houses the torsion bar (107), the torsion bar (107) preferably being of the same length as the tubular body along the axis of the torsion bar (107).

15. Prosthetic device comprising an articulated assembly according to claim 5 alone or in combination with any of claims 2 to 4 and 6 to 14, comprising: - the base is a tibial base intended to be fixed to a limb stump, the tibial base carrying the actuation means, - a ground contact blade configured to pivot relative to the base about the axis of the torsion bar (107), and wherein the input element (103) is connected to an output of the actuation means and the output element 105 is connected to the ground contact blade, the torsion bar (107) being configured to store energy during walking by the torsion of the torsion bar (107), and to supply energy for propulsion simultaneously with the work from the actuation means.

16. Prosthetic device according to claim 15, wherein the tibial base comprises a hollow body receiving the actuation means.

17. Prosthetic device according to claim 16, wherein the tibial base has a longitudinal direction perpendicular to the torsion bar (107), and the actuation means comprise a motor and a screw-nut system, the screw-nut system and the motor being arranged so that they overlap along the longitudinal axis.

18. Prosthetic device according to one of claims 15 to 17, wherein a space is present between the torsion bar (107) and the contact plate, for receiving an independent energy source for the actuation means.

19. Large orthopedic device comprising at least one articulated assembly according to any one of claims 1 to 14.

20. Articulated system comprising at least one articulated assembly according to any one of claims 1 to 14, wherein the articulated system comprises at least a first section and a second section which are hinged relative to one another, the first section forming the input element (103) of the articulated assembly, the second section forming the output element (105) of the articulated assembly.