An exoskeleton for musculoskeletal support and assistance

Abstract

The current invention relates to a portable exoskeleton device. The exoskeleton is provided with a base equipped with means to safely be attached to the user. At least one drive unit advantageously provides torque to at least one distal joint supported by an intermediate kinematic assembly. Said torque is advantageously multiplied and used to power the motion of kinematic links supporting the at least one limb of the user. By providing sufficient the intermediate kinematic assembly with sufficient degrees of freedom, while using a flexible shaft to transmit torque from the drive unit to the distal joint, the freedom of motion of the operator is advantageously guaranteed. A torque reaction countering assembly advantageously permits reduce any undesirable effects on the body of the user caused as a reaction to the torque applied at the distal joint of the exoskeleton, in this way further improving safety, comfort and precision of the exoskeleton while in use.

Description

[0001] AN EXOSKELETON FOR MUSCULOSKELETAL SUPPORT AND ASSISTANCE

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a prosthetic device. In particular, the invention relates to an external musculoskeletal support device for augmenting at least one limb and / or torso of a user.

[0004] BACKGROUND

[0005] Most European countries are afflicted by the aging of the workforce, in particular in factories. This reality creates a demand for ways to complement the declining physical capabilities of human operators. For this purpose, external electro-mechanic assistance devices are known in the art. In particular, exoskeletons have been an emerging technological branch. US11039974 discloses a wearable exoskeleton with full or partial body physical feedback system in virtual and augmented reality applications, or in physical fitness applications, including, in aspects, finger, hand, wrist, elbow, shoulder, back, hip, knee, ankle, and foot components, or combinations thereof. However, this device is limited to providing resistive or restrictive forces, for both the upper and lower portions of the human body, which counter the purpose of providing a user with force augmentation. Another such device is disclosed in TWI728582, which device shares the same limitations as the former.

[0006] US2023030163A1 discloses an exoskeleton comprising a controller in communication with a plurality of actuators configured to give the user force augmentation about at least one joint. Said actuators are located at the joints and / or remotely operate said joints.

[0007] EP3556518 discloses a device and a method for actuating a joint of a human, an animal or a robot are disclosed. An elongated, lengthwise flexible and torsionally elastic body is provided for transmitting torque. Based at least in part on torsional deformation information of the body, torque is transmitted via the body. In an embodiment, a flexible drive shaft is provided, whereby the flexible drive shaft comprises said body. Furthermore, use of a flexible drive shaft as compliant element and as torque transmission element in a rotary actuator for actuating a mechanical joint is disclosed. In addition, use of a flexible drive shaft for determining an impedance of a joint of a human or an animal is also disclosed. The present invention aims to address at least some of the shortcomings of known exoskeletons. In particular, the present invention aims to provide an exoskeleton which, when compared to known devices, provides better mass distribution and better material handling capabilities.

[0008] SUMMARY OF THE INVENTION

[0009] The present invention and embodiments thereof serve to provide a solution to one or more of above-mentioned disadvantages. To this end, the present invention relates to an exoskeleton according to claim 1.

[0010] Preferred embodiments of the device are shown in any of the claims 2 to 9.

[0011] A specific preferred embodiment relates to an invention according to claim 2.

[0012] In a second aspect, the present invention relates to a method / use according to claim 9.

[0013] Preferred embodiments of the method are shown in any of the claims 10 to 14.

[0014] In a third aspect the present invention relates to a use according to claim 15. The kit / use as described herein provides an advantageous effect

[0015] DESCRIPTION OF FIGURES

[0016] The following description of the figures of specific embodiments of the invention is merely exemplary in nature and is not intended to limit the present teachings, their application or uses. Throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0017] Figure 1 schematically presents an embodiment of the exoskeleton configured to be used on the upper body by the user, with a support base suitable for being worn on or proximal to a user's torso.

[0018] Figure 2 presents in more detail the transmission at the distal joint of the intermediate kinematic assembly.

[0019] Figure 3 presents the drive unit in more detail. Figure 4 schematically presents an embodiment of the exoskeleton configured to be used on the lower body by the user, with a support base suitable for being worn on or proximal to a user's torso.

[0020] DETAILED DESCRIPTION OF THE INVENTION

[0021] The present invention concerns a portable exoskeleton device. The exoskeleton is provided with a base equipped with means to safely be attached to the user. At least one drive unit advantageously provides torque to at least one distal joint supported by an intermediate kinematic assembly, said torque is advantageously multiplied and used to power the motion of kinematic links supporting the at least one limb of the user. By providing sufficient the intermediate kinematic assembly with sufficient degrees of freedom, while using a flexible shaft to transmit torque from the drive unit to the distal joint, the freedom of motion of the operator is advantageously guaranteed. A torque reaction countering assembly advantageously permits reduce any undesirable effects on the body of the user caused as a reaction to the torque applied at the distal joint of the exoskeleton, in this way further improving safety, comfort and precision of the exoskeleton while in use.

[0022] Unless otherwise defined, all terms used in disclosing the invention, including technical and scientific terms, have the meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. By means of further guidance, term definitions are included to better appreciate the teaching of the present invention.

[0023] As used herein, the following terms have the following meanings:

[0024] "A", "an", and "the" as used herein refers to both singular and plural referents unless the context clearly dictates otherwise. By way of example, "a compartment" refers to one or more than one compartment.

[0025] "About" as used herein referring to a measurable value such as a parameter, an amount, a temporal duration, and the like, is meant to encompass variations of + / - 20% or less, preferably + / -10% or less, more preferably + / -5% or less, even more preferably + / -1% or less, and still more preferably + / -0.1% or less of and from the specified value, in so far such variations are appropriate to perform in the disclosed invention. However, it is to be understood that the value to which the modifier "about" refers is itself also specifically disclosed. Comprise", "comprising", and "comprises" and "comprised of" as used herein are synonymous with "include", "including", "includes" or "contain", "containing", "contains" and are inclusive or open-ended terms that specifies the presence of what follows e.g. component and do not exclude or preclude the presence of additional, non-recited components, features, element, members, steps, known in the art or disclosed therein.

[0026] Furthermore, the terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order, unless specified. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other sequences than described or illustrated herein.

[0027] The recitation of numerical ranges by endpoints includes all numbers and fractions subsumed within that range, as well as the recited endpoints.

[0028] Whereas the terms "one or more" or "at least one", such as one or more or at least one member(s) of a group of members, is clear per se, by means of further exemplification, the term encompasses inter alia a reference to any one of said members, or to any two or more of said members, such as, e.g., any >3, >4, >5, >6 or >7 etc. of said members, and up to all said members.

[0029] Unless otherwise defined, all terms used in disclosing the invention, including technical and scientific terms, have the meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. By means of further guidance, definitions for the terms used in the description are included to better appreciate the teaching of the present invention. The terms or definitions used herein are provided solely to aid in the understanding of the invention.

[0030] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to a person skilled in the art from this disclosure, in one or more embodiments. Furthermore, while some embodiments described herein include some but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention, and form different embodiments, as would be understood by those in the art. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0031] In a first aspect, the invention provides a portable exoskeleton device. The portable exoskeleton device according to the invention comprises a support base for being worn on or proximal to a user's torso and / or pelvis, said support base further comprising a drive unit having at least a first torque output element. By preference said support base is made of aluminum, ABS, most preferably, the support base is made of high-modulus carbon fiber. In this way, the weight of the exoskeleton is advantageously reduced, thus enabling improve usability and comfort.

[0032] In this context, the term "portable" as referring to the exoskeleton is to be understood as power grid and tether independent. The exoskeleton according to the invention is capable of maintaining its own source of power for a predetermined period of time before charging or replacement of said at least one power source becomes necessary.

[0033] The exoskeleton further comprises an intermediate kinematic assembly connecting to the support base with a first distal joint (typically comprised in the intermediate kinematic assembly), the first distal joint comprising a transmission with a torque input element and a second torque output element. The proximal end of the intermediate kinematic assembly preferably comprises a triplet of rotational joints arranged in series. More preferably, each rotational joint in said triplet of rotational joints is spring loaded. Yet more preferably, the equilibrium position of said springs in each of the rotational joints is adjustable by means of a fastener, preferably a screw or bolt. The transmission configured for modifying torque from the torque input element and transmitting said modified torque to the second torque output element. The second torque output element is coupled to the first distal joint. Being the first element to receive torque, the torque input element is, by preference, a first gear configured to transmit torque to at least one subsequent larger diameter gear within the transmission. More preferably, the first torque input element is a coupling is provided on said first gear. In this way, repair and / or modifications to the exoskeleton are advantageously made easier. Said coupling may further comprise a clutch mechanism, thus allowing, for example though not exclusively, for the implementation of torque and / or motion limiting features to the distal joint. A limb kinematic structure is operably connected to the first distal joint of the intermediate kinematic assembly for receiving the modified torque from the first distal joint. This limb kinematic structure comprises, by preference, support for a first limb section. Most preferably, the limb kinematic structure further comprises support for a second limb section distally located relative to said first limb joint. The connections between the links of the exoskeleton are, by preference, a combination of prismatic joints, revolute joints, spherical joints and universal joints.

[0034] It is characterized in that, the first torque output element of the drive unit and the torque input element of the intermediate kinematic assembly are operably connected by means of a lengthwise flexible and torsionally elastic shaft for transmitting torque. This shaft permits effective transmission of torque to the intermediate first distal joint of the intermediate kinematic assembly, while still allowing the user a full range of motion. In this way, said user will not encounter a sudden limitation of motion, most notably, when extending a limb towards the its limit of the reach, thereby avoiding interrupting the workflow of the user and / or cause undue strain.

[0035] The intermediate kinematic assembly further comprising a torque reaction countering assembly configured for at least partially transmitting a countertorque resulting from torque transmitted to the limb kinematic structure by the second torque output element, to the support base, wherein said torque reaction countering assembly is provided between the torque input element and the limb kinematic structure. The torque passed along the kinematic structure will result in an countertorque in an opposite direction. Unless means to cancel this counter-torque are used, at least some of that counter-torque will be passed onto the body of the user, which in the best case will result in unwanted motions, and in the worst case will result in the user being injured. The device according to the present invention advantageously addresses this issue by means of a torque reaction assembly.

[0036] In an embodiment, the torque reaction countering assembly is configured for resisting or blocking exertion of the countertorque parallel to the plane of the torque transmitted to the limb kinematic structure on the user at the distal joint, by resisting or blocking rotational freedom at the intermediate kinematic assembly around said parallel plane, and at least partially transmitting the countertorque around said parallel plane via the intermediate kinematic assembly to the support base.

[0037] Alternatively phrased, the torque reaction countering assembly is configured for resisting or blocking exertion (on the user at the distal joint) of the countertorque around an axis perpendicular to the plane of the torque (that is) transmitted to the limb kinematic structure, by resisting or blocking rotational freedom at the intermediate kinematic assembly in said plane, and at least partially transmitting (a component of) said countertorque via the intermediate kinematic assembly to the support base.

[0038] In other words, the countertorque that is exercised on the user at the distal joint and that is acting in or parallel to the plane (thus around an axis perpendicular to said plane) wherein the torque is exercised that is transmitted to the limb kinematic structure, is resisted or blocked from being exerted. This is achieved by resisting or blocking rotational freedom at the intermediate kinematic assembly in said plane, and at least partially transmitting (a component of) said countertorque via the intermediate kinematic assembly to the support base. By doing so, the effects / exertion of said countertorque are avoided, or at least reduced, at the distal joint, which is usually a weak(er) body part or joint of the user, and instead is (at least partially) transmitted to the support base, where this countertorque can be more easily borne.

[0039] In an embodiment, the intermediate kinematic assembly is connected to the support base via at least one strap suitable to support the support base against the upper body and / or pelvis of the user. By preference, said at least one strap is a padded strap. In this way, the strap acts both as a support element for the base as well as a dampening element against counter-torque.

[0040] In an embodiment, the limb kinematic structure comprises at least one kinematic link for supporting an upper section of the limb of the user. The joints where an upper section of a limb meets the torso are some of the most complex, yet are also those subject to the highest strain during handling activities. As such, the exoskeleton according to the present invention, advantageously provides support to said joints. By preference, the kinematic link comprises a brace suitable for supporting an upper section of the limb of the user. By preference said brace comprises a compressible pad layer on the side of the brace which comes in contact with the limb of the user, the brace further comprising at least one strap with which to be fixed to the upper limb of the user. More preferably, the positioning of the brace along the kinematic link is adjustable, such that the brace can be slid along the length of the kinematic link, and if desired or necessary, the brace can be retained at any such position along the length of the kinematic link by means of a retaining element. In this way, the brace can be adjusted for maximum comfort and support. More preferably, the brace comprises a hard plate outer shell between the padded element and the kinematic link, which hard plate further comprises any sliding and / or retaining elements attaching the brace to the kinematic link. In this way, support force provided by the exoskeleton via the kinematic link to the upper section of the limb is advantageously distributed over a larger area. This permits providing support to the user without discomfort, bruising or any hindrance to blood circulation.

[0041] In an embodiment, the drive unit is located on or between the lumbar and pelvic area of the user when worn by the user. By preference, the drive unit is located above the pelvic area of the user, more preferably on the lumbar area of the user. The drive unit represents a significant weight to be worn by the user, as such, the drive unit is in this way place closer to the center of mass of the user. The lumbar area, having the least required displacement, is not as affected by the inertial effect of the mass of the drive unit as other body parts which typically have larger amplitudes of motion. Another advantageous effect of the placement of the drive unit on the lumbar area is that the mass of said drive unit provides a counter-weight in case the exoskeleton is applied to any of the upper limbs of the user.

[0042] In an embodiment, the limb kinematic structure further comprises a second kinematic link for supporting a lower limb section of the user. In this context, lower limb section is to be understood as a lower section of a limb, the start of said lower section being defined by the distal joint of the upper section of the limb. Such lower sections of a limb may be the section of an arm defined by the length of the ulnar bone or the section of a leg defined by the tibia. By preference the first and second kinematic links are rotatably attached to each other by means of a joint, which joint is, preferably, a revolute joint, more preferably, said joint is remotely operated. Most preferably said joint is remotely operated by mean of the drive unit. In order for the second kinematic link to support the lower limb section, said second kinematic link is attached to the lower section of a limb by means of a brace, preferably comprising a strap and a padded section, said padded section being supported by a hard plate. By preference, said hard plate releasably attached to the second kinematic link, such that the position of said hard plate along the length of the second kinematic link is adjustable.

[0043] In an embodiment, the limb kinematic assembly has at least four degrees of freedom, DOF. More preferably the intermediate kinematic assembly of the limb kinematic assembly has at least four degrees of freedom, most preferably five degrees of freedom. In this way, the freedom of motion of the natural joint of the human body is more closely replicated, and in this way, permitting greater freedom of motion and comfort to the user.

[0044] In an embodiment, the lengthwise flexible and torsionally flexible shaft has a diameter between 0.5mm and 15mm, preferably between 1mm and 10 mm. More preferably, the lengthwise flexible and torsionally flexible shaft has a diameter between 2mm and 8mm, most preferably between 3mm and 6mm. In this way the shaft can transmit sufficient torque to the transmission on the distal joint in order to move the upper section of the limb, while still being flexible enough not to hinder the range of motion of the user.

[0045] In an embodiment, the transmission has an input to output ratio of at least five to one. This permits using a low input torque and still be able to generate sufficiently high output toque to move the kinematic link supporting / assisting the upper section of the limb. By preference, input to output ratio is between 5: 1 to 40: 1, more preferably, between 5: 1 to 30: 1, more preferably between 5: 1 to 20: 1, most preferably, the input to output ratio 10: 1 to 16: 1. The transmission comprises a planetary gear or a hypoid gear assembly or worm gear assembly. In an embodiment, a hypoid gear assembly or worm gear assembly are combined with a planetary gear. The planetary gear assembly receives torque via the sun gear and passes said torque to the hypoid gear assembly by means of the ring gear. The planetary gear permits increasing torque gain on the output side of the hypoid gear should the user need further force assistance. By preference, an output torque sensor is fitted to the output side of the transmission, in this way permitting acquisition of data related to the output torque in order to ensure robust response and safe use of the exoskeleton. By preference, the maximum output torque is between 2Nm and 8Nm, more preferably between 3Nm and 7Nm, most preferably between 4Nm and 6Nm. Preferably, the level of assistance provided to the user is maximum when the proximal end of the first link of a limb kinematic structure horizontally aligned or under the distal end of said link. In this way, the exoskeleton provides the most support when the user would normally carry out the highest level of exertion. For example, for an upper body exoskeleton, said exoskeleton provided the highest level of assistance, i.e. torque, when the upper arm of the user defines an angle of 90° or more with the vertical plane. This advantageously permits also to avoid providing excessive torque to the shoulder joint when the arm is in a less strenuous position, since such a high torque would hinder the freedom of movement of the user. In an embodiment, the limb kinematic assembly is driven by a separate drive unit torque output element. This makes the system advantageously simpler downstream from the drive unit. Also the center of mass of the system is shifter more towards the lumbar area of the user, which helps the user maintain balance.

[0046] In an embodiment, the torque reaction countering assembly comprises a sheath surrounding the flexible shaft and having its distal end rigidly connected to a housing of the joint actuated by the drive unit. More preferably, the torque reaction countering assembly comprises an epicyclic gear train having a sun gear, at least two planet gears on a carrier and a ring gear, the sun gear being connected to the shaft of the drive unit and the flexible shaft, the carrier of the planet gears being connected to a housing of the drive unit by intermediate of an electrically actuated clutch, and the ring gear having its outer perimeter rigidly connected to the proximal end of a flexible cylindrical sheath, the sheath surrounding the flexible shaft and having its distal end rigidly connected to a housing of the joint actuated by the drive unit. This permits providing an additional torque to the housing of the joint in order to oppose the effects of the counter-torque.

[0047] In an embodiment, the torque reaction countering assembly is configured to be selectively activated and to transmit torque to the housing of the distal joint in an opposite direction to the torque applied by the flexible and torsionally elastic shaft to the torque input element of the distal joint. By preference, a controller is provided to control the activation and deactivation of the electrical clutch, more preferably, said controller is configured to control both the drive unit and the electrical clutch. This permits synchronizing the activation and deactivation of the electrical clutch when torque is provided to the flexible shaft. More preferably the flexible cylindrical sheath is equipped with a deformable elastic element, most preferably said deformable elastic element is interposed between the distal end of the cylindrical sheath and the joint housing. In this way, the torque provided by the flexible sheath to the joint housing arrives with a small delay relative to the torque transmitter via the flexible shaft to the joint. This allows the system to recreate the dampening effect otherwise provided by the tissues surrounding the joints of the user, thus providing a more stable response to the counter-toque occurring during the movement of a joint. In order to achieve the best results, the coefficient of elasticity of the deformable elastic element is between 0.5Nm / rad and 20Nm / rad, more preferably between 2Nm / rad and 15Nm / rad, between 2,5Nm / rad and 8Nm / rad, most preferably between 4Nm / rad and 6Nm / rad. In an embodiment, the intermediate kinematic assembly is configured for positioning on or at a shoulder of the user, and wherein the limb kinematic assembly is configured for supporting arm movement of the user. In an embodiment, the first kinematic link of the limb kinematic structure further comprises a second distal joint identical to the first distal joint. In this way, support can be provided to both the upper arm as well as the lower arm, thereby greatly increasing the support provided to the user.

[0048] In an embodiment, the intermediate kinematic assembly is configured for positioning on or at the pelvis of the user, and wherein the limb kinematic assembly is configured for supporting upper leg movement of the user. In an embodiment, the first kinematic link of the limb kinematic structure further comprises a second distal joint identical to the first distal joint. In this way, support can be provided to both the upper leg as well as the lower leg, thereby greatly increasing the support provided to the user. In another embodiment, the exoskeleton combines two intermediate kinematic assemblies, one configured for positioning on or at a shoulder of the user, and the another for positioning on the pelvic are of the user. The first intermediate kinematic assembly wherein the limb kinematic assembly is configured for supporting upper and or lower arm movement of the user and the second intermediate kinematic assembly another limb kinematic assembly is configured to support the upper and / or lower leg of the user. In this way, the user is advantageously provided with full body support, which not only unburdens the limbs of the user, but also the back of said user.

[0049] In an embodiment, the exoskeleton further comprises an electrical energy source, preferably a battery pack placed adjacent to the drive unit. In this way, the user is provided with a much wider action radius. This makes the exoskeleton particularly useful for use in warehouses and work cells where the user is required to cover an area that goes beyond arm's reach.

[0050] However, it is obvious that the invention is not limited to this application. The device according to the invention can be applied in all sorts of devices requiring remotely actuated kinematic joints in a kinematic link, such as collaborative robots, partpickers, arm gantries, etc..

[0051] The invention is further described by the following non-limiting examples which further illustrate the invention, and are not intended to, nor should they be interpreted to, limit the scope of the invention. The present invention will be now described in more details, referring to examples that are not limitative.

[0052] DESCRIPTION OF FIGURES

[0053] With as a goal illustrating better the properties of the invention the following presents, as an example and limiting in no way other potential applications, a description of a number of preferred embodiments of the exoskeleton based on the invention.

[0054] FIG. 1 schematically presents an embodiment of the exoskeleton (1) configured to be used on the upper body by the user, comprising a support base suitable for being worn on or proximal to a user's lumbar and / or pelvic area. The exoskeleton (1) is shown comprising a drive unit (2) having at least one first torque output element

[0055] (3). FIG. 1 depicts an intermediate kinematic assembly (8) comprising a first distal joint (6), which first distal joint (6) further comprises a transmission (4) and a torque input element (5) for transmitting torque to said transmission (4). The transmission

[0056] (4) is advantageously configured for modifying torque from the torque input element

[0057] (5) and transmitting said modified torque to the axis (23) of the distal joint (6) and of a limb kinematic structure (7). Said limb kinematic structure (7) is operably connected to the first distal joint (6) of the intermediate kinematic assembly (8) for receiving the modified torque from the first distal joint (6). The torque output element (3) of the drive unit (2) and the torque input element (5) of the intermediate kinematic assembly (8) are operably connected by means of a lengthwise flexible and torsionally elastic shaft (9) for transmitting torque. The intermediate kinematic assembly (8) is shown connecting the support base (10) to the first distal joint (6) by intermediate of kinematic chain includes at least four degrees of freedom, in this way providing ample freedom of movement to the user. The intermediate kinematic assembly (8) is shown further equipped with a torque reaction countering assembly (11). This torque reaction countering assembly (11) being configured for at least partially countering the counter-torque resulting from torque transmitted to the limb kinematic structure (7), through the intermediate kinematic assembly (8), to the support base (10), wherein said torque reaction countering assembly is provided between the torque (5) input element and the limb kinematic structure (7). More preferably, the torque reaction countering assembly (11) is provided as a flexible cylindrical sheath (21) driven by a planetary gear (23) assembly as shown in FIG. 1. The figure shows how the exoskeleton (1) is worn on or proximal to the upper body by a user. The first kinematic link (16) of the limb kinematic structure (7) is shown attached to the upper section of the limb of the user, in this case an arm, by means of a brace (24) equipped with a strap (14), which strap (14) wraps around the upper arm of the user. Another strap (14) is shown extending from support base (10) provided around the abdominal area of the user.

[0058] FIG. 2 presents in more detail the transmission (4) at the distal joint (6) of the intermediate kinematic assembly (8). The transmission (4) comprises a hypoid gear assembly. The torque input element (5) in this embodiment is a first gear operating a second, larger gear configured as a second torque output element (12) to the first kinematic link (16) of the arm kinematic structure (7). Said kinematic link (16) is shown provided with a brace in order to support the upper section of the arm of the user. The flexible shaft (9) is shown rigidly attached to the gear acting as the torque input element (5). A flexible sheath (21) is shown around the flexible shaft (9). An elastic element (22) is shown interposed between the housing (24) of the distal joint (6) and the distal end of the flexible sheath (21).

[0059] FIG. 3 presents in more detail the drive unit (2). The figure show a drive unit (2) with its first torque output element (3) rigidly attached to the proximal end of the flexible shaft (9). The housing of the drive unit (2) is shown rigidly attached to the outer perimeter of an electrical clutch (20). Said clutch (20) is further attached to the axis of the planet gears (18) of the planetary gear (23) such that when current is provided to the clutch (20), the carrier of the planet gears (18) is blocked from rotating, thereby forcing said planet gears (18) to rotate and transmit torque from the sun gear (17) to the ring gear (19) of the planetary gear assembly (23). Said torque is then transmitted to the flexible cylindrical sheath (21) rigidly attached to the ring gear (19).

[0060] FIG. 4 schematically presents an embodiment of the exoskeleton (1) configured to be used on the lower body by the user, comprising a support base suitable for being worn on or proximal to a user's lumbar and / or pelvic area. The exoskeleton (1) is shown comprising a drive unit (2) having at least one first torque output element (3). The only substantial difference with respect to FIG. 1, is that the first kinematic link (16) is attached to the leg of the user, again at the upper section, by means of a brace (24) equipped with a strap (14), which strap (14) wraps around the upper leg of the user.

[0061] The present invention is in no way limited to the embodiments described in the examples and / or shown in the figures. On the contrary, methods according to the present invention may be realized in many different ways without departing from the scope of the invention.

[0062] List of numbered items:

[0063] 1 exoskeleton

[0064] 2 drive unit

[0065] 3 first torque output element

[0066] 4 transmission

[0067] 5 torque input element

[0068] 6 first distal joint

[0069] 7 limb kinematic structure

[0070] 8 intermediate kinematic assembly

[0071] 9 lengthwise flexible and torsionally elastic shaft

[0072] 10 support base

[0073] 11 torque reaction countering assembly

[0074] 12 second torque output element

[0075] 13 upper section of limb

[0076] 14 strap

[0077] 15 lower section of limb

[0078] 16 kinematic link

[0079] 17 sun gear

[0080] 18 planet gear

[0081] 19 ring gear

[0082] 20 clutch

[0083] 21 flexible cylindrical sheath

[0084] 22 elastic element

[0085] 23 planetary gear assembly

[0086] 24 distal joint housing

Claims

CLAIMS1. A portable exoskeleton device comprising: a support base for being worn on or proximal to a user's torso and / or pelvis, comprising a drive unit having at least one first torque output element; an intermediate kinematic assembly comprising a first distal joint, wherein the support base is connected to the first distal joint, the first distal joint comprising a transmission with a torque input element and a second torque output element, the transmission configured for modifying torque from the torque input element and transmitting said modified torque to the second torque output element; the second torque output element being coupled to the first distal joint; a limb kinematic structure operably connected to the first distal joint of the intermediate kinematic assembly for receiving the modified torque from the first distal joint; characterized in that, the first torque output element of the drive unit and the torque input element of the intermediate kinematic assembly are operably connected by means of a lengthwise flexible and torsionally elastic shaft for transmitting torque, the intermediate kinematic assembly further comprising a torque reaction countering assembly configured for at least partially transmitting a countertorque resulting from torque transmitted to the limb kinematic structure by the second torque output element, to the support base, wherein said torque reaction countering assembly is provided between the torque input element and the limb kinematic structure.

2. The exoskeleton device according to claim 1, characterized in that, the torque reaction countering assembly is configured for resisting or blocking exertion on the user at the distal joint of the countertorque around an axis perpendicular to the plane of the torque transmitted to the limb kinematic structure, by resisting or blocking rotational freedom at the intermediate kinematic assembly in said plane, and at least partially transmitting said countertorque via the intermediate kinematic assembly to the support base.

3. The exoskeleton device according to any of the previous claims, characterized in that, the intermediate kinematic assembly is connected to the support basevia at least one strap suitable to support the support base against the upper body and / or pelvis of the user.

4. The exoskeleton device according to any of the previous claims, characterized in that, the limb kinematic structure comprises at least one kinematic link for supporting an upper section of the limb of the user.

5. The exoskeleton device according to claim 4, characterized in that, the limb kinematic structure further comprises a second kinematic link for supporting a lower limb section of the user.

6. The exoskeleton device according to any of the previous claims, the kinematic link comprises a brace suitable for supporting an upper section of the limb of the user.

7. The exoskeleton device according to any of the previous claims, characterized in that, the drive unit is located on or between the lumbar and pelvic area of the user when worn by the user.

8. The exoskeleton device according to any of the previous claims, characterized in that, the limb kinematic assembly has at least four degrees of freedom, DOF.

9. The exoskeleton device according to any of the previous claim, characterized in that, the lengthwise flexible and torsionally flexible shaft has a diameter between 0.5mm and 15mm, preferably between 1mm and 10 mm.

10. The exoskeleton device according to any of the previous claims, characterized in that, the transmission has an input to output ratio of at least five to one.

11. The exoskeleton device according to any of the previous claims, characterized in that, the limb kinematic assembly is driven by a separate drive unit torque output element.

12. The exoskeleton device according to any of the previous claims, characterized in that, the torque reaction countering assembly comprises a sheath surrounding the flexible shaft and having its distal end rigidly connected to a housing of the joint actuated by the drive unit.

13. The exoskeleton device according to any of the previous claims, characterized in that, the torque reaction countering assembly is configured to be selectively activated and to transmit torque to the housing of the distal joint in an opposite direction to the torque applied by the flexible and torsionally elastic shaft to the torque input element of the distal joint.

14. The exoskeleton device according to any of the previous claims, wherein the intermediate kinematic assembly is configured for positioning on or at a shoulder of the user, and wherein the limb kinematic assembly is configured for supporting arm movement of the user.

15. The exoskeleton according to any of the previous claims, characterized in that, the exoskeleton further comprises an electrical energy source, preferably a battery pack placed adjacent to the drive unit.

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