Exoskeleton for assistance during walking activity

Abstract

One aspect of the invention relates to a user's walking assistance exoskeleton comprising: actuators adapted to assist the user's hip flexion and extension movements, and a dorsal structure comprising a dorsal tube with: a lower end of the dorsal tube connected to the cradle by a lower link, the lower link being of the pivot type allowing rotation about an axis perpendicular to a longitudinal axis of the dorsal tube and perpendicular to an axis formed by the actuators, and an upper end of the dorsal tube connected to the chest harness by an upper link, the upper link being of the double pivot type allowing a first rotation about an axis parallel to the axis formed by the actuators and a second rotation about the longitudinal axis of the dorsal tube. Figure to be published with the abstract: Figure 1

Description

Title of the invention: Exoskeleton for assistance during walking activity. TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of exoskeletons.

[0002] The present invention relates to an exoskeleton for assisting with a walking activity. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] An exoskeleton is a device fixed to one or more limbs of the human body to restore its mobility or increase its physical capabilities.

[0004] Exoskeletons can assist a human in various tasks such as carrying heavy loads, walking, running, etc. Numerous applications are possible, for example in the medical, industrial, or military fields.

[0005] Depending on the intended applications, exoskeletons differ greatly. Thus, it is possible to divide exoskeletons into two main categories.

[0006] A first category concerns passive exoskeletons. Passive exoskeletons are not motorized. Passive exoskeletons incorporate materials and equipment that store and release energy during the user's movement. The term "user" refers to the person wearing the exoskeleton. This person can be a man or a woman of any age. Passive exoskeletons are often used for ergonomic purposes, to prevent repetitive strain injuries, or to assist in lifting tools or equipment. Thus, passive exoskeletons are primarily intended to assist able-bodied individuals in performing repetitive and / or potentially traumatic tasks.

[0007] A second category of exoskeletons concerns active exoskeletons. Active exoskeletons rely on systems such as motors, hydraulic or pneumatic systems, capable of increasing human strength or reducing the body's energy consumption. An active exoskeleton consists of one or more actuators, which could be an electric motor, for example. The actuator actively increases the power of the human body.

[0008] Generally speaking, active exoskeletons are heavier than passive exoskeletons due to the amount of equipment and accessories they incorporate. The weight of the active exoskeleton makes it uncomfortable to use. Furthermore, active exoskeletons generally greatly limit the user's mobility.

[0009] Active exoskeletons that assist with walking actively participate in the flexion and extension of the user's hip. These exoskeletons These exoskeletons include an actuator located near the hip that generates torque around the hip's flexion / extension axis. They also include a belt to which the actuators are attached. Additionally, a harness is commonly used around the torso. The harness transmits the hip assistance reaction forces generated by the actuators. The resulting simplified force is a near-normal force exerted on the user's torso in the sagittal plane, forward or backward depending on the direction of assistance. Transmitting the force to both the belt and torso, rather than just the belt, increases the lever arm and thus reduces the equivalent perceived force. These active exoskeletons generally have several drawbacks. First, they are usually heavy and uncomfortable.Furthermore, due to their large number of parts, these exoskeletons are complex and expensive to manufacture. Finally, these exoskeletons greatly limit lateral flexion movements, also called abduction and / or adduction, of the torso, as well as torso torsion. Therefore, these exoskeletons are not suitable for assistance during walking, and particularly during mountain hiking.

[0010] French patent application FR2312705, filed on November 20, 2023 by Decathlon, partially solves these problems by providing an exoskeleton structure that transmits the hip assistance reaction forces generated by exoskeleton actuators while allowing significant freedom of movement for the user's torso. However, this exoskeleton structure has a high manufacturing cost and a risk of premature wear, particularly due to material fatigue in the back beam.

[0011] There is therefore a need to provide an exoskeleton to assist in a walking activity limiting the aforementioned disadvantages. Summary of the invention

[0012] The invention offers a solution to the problems mentioned above by providing a lightweight and comfortable exoskeleton. In particular, thanks to the presence of a specific back structure, the exoskeleton allows for the distribution of forces related to assisting walking activity. Thus, the equivalent perceived effort is distributed between the lumbar belt and the chest harness. This improves the user comfort of the exoskeleton. Furthermore, the exoskeleton according to the invention allows the user to maintain freedom of movement during assisted walking activity, notably with the back structure which allows lateral flexion of the torso. Finally, the exoskeleton comprises a limited number of inexpensive parts, resulting in a reliable, simple, and cost-effective exoskeleton to manufacture.

[0013] One aspect of the invention relates to an exoskeleton for assisting a user with a walking activity, comprising: • A chest harness designed to fit snugly around the user's torso, • Left and right actuators adapted to assist movement of flexion and extension respectively of the user's left and right hips, the left and right actuators being: • attached to a cradle adapted to fit the user's waist, and • respectively linked to left and right thigh structures adapted to enclose the user's left and right thighs, and • A dorsal structure comprising a dorsal tube with: • a lower end of the dorsal tube connected to the cradle by a lower link, the lower link being of the pivot type allowing rotation around an axis perpendicular to a longitudinal axis of the dorsal tube, and perpendicular to an axis formed by the actuators, and • an upper end of the dorsal tube connected to the chest harness by a high connection, the high connection being of the double pivot type allowing a first rotation around an axis parallel to the axis formed by the actuators and a second rotation around the longitudinal axis of the dorsal tube.

[0014] In addition to the characteristics mentioned in the preceding paragraph, the exoskeleton according to one aspect of the invention may have one or more additional characteristics from among the following, considered individually or in all technically possible combinations: • Each thigh structure includes: • a thigh harness designed to encircle one of the user's thighs, and • a thigh spatula: • linked to the actuator, at its upper end, by a pivot-type upper joint allowing rotation around an axis perpendicular to the longitudinal axis of the dorsal tube and perpendicular to the axis formed by the actuators, and • attached to the thigh harness at its lower end by a lower connection of two pivots and a slide allowing: • a rotation around an axis perpendicular to the longitudinal axis of the dorsal tube and perpendicular to the axis formed by the actuators, • a rotation around an axis parallel to the axis formed by the actuators, and • a translation along an axis perpendicular to the axis formed by the actuators and contained in a plane formed by a slide of the thigh harness; • Each thigh spatula is formed from a single piece with a closed profile; • each thigh harness includes a suitable retention system to maintain the thigh harness at a predetermined height relative to the thigh spatula, the retention system generating a force in a first direction when the thigh harness moves relative to the thigh spatula in a direction opposite to the first direction; • the thigh harness retention system includes an elastic band attached to the thigh harness by two lower ends and forming an upward-facing loop, the loop being adapted to encircle the lower connection of the thigh spatula; • the total length of the dorsal tube is adjustable over an adjustment length between 0 and 10 centimetres; • the exoskeleton also includes an interchangeable lumbar belt attached to the cradle; • the width and depth of the cradle are adjustable with a unique adjustment system correlating the width and depth of the cradle with a ratio between the depth and width of 0.2; • the width and depth of the cradle are independently adjustable with two adjustment systems; • the weight of the exoskeleton is less than 10 kilograms.

[0015] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0016] The figures are presented for illustrative purposes only and are in no way limiting of the invention. • Figures 1 to 4 show a schematic representation from different viewpoints of an example of an exoskeleton according to the invention. • Figure 5 shows a schematic representation of an example of a thigh harness compatible with the exoskeleton according to the invention.

[0017] The user shown in the various figures is in the so-called "resting" position. Unless otherwise stated, all the characteristics of the exoskeleton according to the invention are described assuming that the user is in the resting position.

[0018] Unless otherwise specified, the same element appearing on different figures has a unique reference. DETAILED DESCRIPTION

[0019] Fig. 1 shows a schematic representation, from a first point of view, of an example of an exoskeleton according to the invention.

[0020] Exoskeleton 1 is an exoskeleton designed to assist a user during a walking activity. The user is, for example, an able-bodied person, i.e., capable of performing a walking activity, who wishes to increase their performance, for example, the speed, duration, or difficulty of the walking activity. Thus, exoskeleton 1 enables a non-therapeutic increase in performance during a walking activity. The walking activity performed by the user can be one of the following: • a walk, • Nordic walking, i.e., walking with poles in nature, • a hike, • a race, • a snowshoe hike, • a ski touring ski,

[0021] The walking activity can, in particular, be carried out outdoors, on terrain including one or more slopes. Preferably, the weight of the exoskeleton 1 is therefore less than 10 kilograms. Even more preferably, the weight of the exoskeleton 1 is less than 8 or even 6 kilograms. In addition, the exoskeleton 1 can include a backpack, which is therefore integrated into the exoskeleton 1. When the exoskeleton 1 includes a backpack, the weight of the exoskeleton 1 is preferably less than 8.5 kilograms.

[0022] By default, and unless otherwise specified, all the links or joints mentioned in the rest of the application are free, that is to say that their mobilization does not generate a force in the opposite direction of the rotational or translational movement.

[0023] The exoskeleton 1 comprises left actuators 10 and right actuators 11, a cradle 20, left thigh structures 30 and right thigh structures 31, a chest harness 40, and a dorsal structure 50. Each actuator 10 and 11 is connected, at its lower end, to a thigh structure 30 and 31. Each actuator 10 and 11 is attached, at its upper end, to the cradle 20. The cradle 20 is attached at its lower end to the actuators 10 and 11, and connected at its upper end. high to the dorsal structure 50. The dorsal structure 50 is linked, at its lower part to the cradle, and at its upper part to the chest harness 40.

[0024] Each actuator 10 and 11 is adapted to assist a flexion and extension movement of one of the user's hips. The left actuator 10 assists the flexion and extension movements of the user's left hip. The right actuator 11 assists the flexion and extension movements of the user's right hip. The actuators 10 and 11 are positioned symmetrically to the left and right of the user's hips. An axis 100 passing through the center of the actuators 10 and 11 is therefore perpendicular to the user's sagittal plane. Each actuator 10 and 11 generates a torque around the flexion / extension axis of its respective hip in order to assist the user's walking activity. Thus, each actuator transmits an assistive force to the thigh through the thigh structure, following the movements of the thigh. The dorsal structure 50 also allows the transmission of reaction forces generated by the assistance provided by the actuators.The resulting simplified effort is almost a normal effort for the user's torso, forward or backward depending on the direction of assistance. Transmitting the force to the harness 40 is advantageous because it increases the lever arm, thus reducing the equivalent perceived effort. The assistance provided by the exoskeleton 1 for walking is therefore more comfortable than for an exoskeleton without a chest harness 40.

[0025] The chest harness 40 is adapted to encircle the user's torso. The chest harness 40 can also be adapted to partially support the weight of the exoskeleton 1. Thus, the weight of the exoskeleton 1 can be distributed at different points of contact between the exoskeleton 1 and the user. For example, the weight of the exoskeleton can be distributed at: • The user's chest with the 40 chest harness, • The user's pelvis with a belt attached to the cradle 20, and • The user's right and left thighs with thigh structures 30 and 31.

[0026] The chest harness 40 may include a rigid plate (not shown in [Fig. 1]). The rigid plate may be in contact with an area of ​​the user's back located between the user's shoulder blades. For improved comfort, a soft material may be added to the inner surface, i.e., facing the user's back, of the rigid plate.

[0027] The chest harness 40 may further include shoulder straps (not shown in [Fig. 1]). These shoulder straps may, for example, include a segment made of polymer or textile.

[0028] Figure 2 shows a schematic representation from a second point of view of an example of an exoskeleton 1 according to the invention. In [Fig.2], a detailed example of dorsal structure 50 and cradle 20 are illustrated.

[0029] The dorsal structure 50 comprises a dorsal tube 51. The dorsal tube 51 lies in the sagittal plane of the user. A longitudinal axis 511 of the dorsal tube 51 is substantially parallel to a principal axis of the user's torso. For example, the longitudinal axis 511 forms an angle of less than 15 degrees with the principal axis of the user's torso. The total length of this dorsal tube 51 can be between 15 and 25 centimeters, denoted cm. Furthermore, the total length of the dorsal tube 51 can be adjustable. For example, the adjustment length of the dorsal tube 51 can be between 0 and 10 cm. The system for adjusting the dorsal tube can be a system for interlocking two tubes, thus constituting the dorsal tube 51. The dorsal tube 51 is preferably cylindrical but can also be of a different shape, for example, cuboid. Preferably, the dorsal tube 51 is rigid.Alternatively, the dorsal tube 51 can be slightly flexible to allow for torso movement while ensuring efficient transmission of forces generated by the exoskeleton actuators. The dorsal tube 51 can, for example, be made of aluminum or composite material.

[0030] At one upper end, the dorsal tube 51 is connected to the chest harness 40, for example to the rigid plate of the chest harness 40. The upper connection 53, i.e. the connection at the upper end, includes a double pivot type joint allowing a first rotation around an axis 531 parallel to an axis 100 formed by the actuators 10 and 11 and a second rotation around a longitudinal axis 511 of the dorsal tube 51. This joint allows in particular the user to lean laterally or forward.

[0031] At one lower end, the dorsal tube 51 is connected to the cradle 20. The lower connection 52, i.e., the connection at the lower end, includes a pivot joint allowing rotation about an axis 521. The axis 521 is perpendicular to the longitudinal axis 511 of the dorsal tube 51 and perpendicular to the axis 100 formed by the actuators 10 and 11. This joint allows the user to lean laterally. The rotation about the axis 521 can be limited to an angle of 25 degrees, with an angle of 0 degrees corresponding to the position in which the longitudinal axis 511 of the dorsal tube 51 lies within the sagittal plane of the user.

[0032] It may be noted that, in one example, the dorsal structure 50 does not include a slide or any other system allowing translation of the chest harness 40 relative to the dorsal tube 51. In other words, the position of the upper linkage 53 between the dorsal structure 50 and the chest harness 40 is fixed relative to the position of lower connection 52 of the dorsal structure 50. Thus, the chest harness 40 helps to support, in part, the weight of the exoskeleton 1.

[0033] The cradle 20 is adapted to surround the user's pelvis. The cradle 20 may include a compartment 21 adapted to receive a power source such as an electric battery. The power source is adapted to power the actuators 10 and 11. The compartment 21 may be positioned in line with the dorsal tube 51, at its lower end. The compartment 21 is therefore adapted to be positioned at the lower back of the user. The cradle 20 may also include arms 22. The arms 22 are attached to the actuators 10 and 11. The arms may also be attached to the compartment 21 or directly connected to the dorsal structure 50 at the lower connection 52. The arms 22 may be made of aluminum or composite material. The cradle 20 can also include a lumbar belt 23. The lumbar belt 23 is designed to encircle the user's waist at the lower back.The lumbar belt 23 is interchangeable, meaning that the cradle 20 can accommodate a lumbar belt 23 chosen from among different lumbar belts 23. These different lumbar belts 23 can vary in size to adapt to the user's body shape, particularly their waist circumference. The lumbar belt 23 is attached to the cradle 23, specifically to the arms 22 and / or the compartment 21 when present. To change the lumbar belt, a biocable sliding system, also known as a "slide and clip," can be used.

[0034] Figure 3 shows a schematic representation of an example of a cradle 20 from a top view. The width 201 and depth 202 of the cradle 20 are adjustable. The width 201 of the cradle 20 corresponds to the dimension of the cradle 20 in a direction parallel to the axis 100. The width 201 of the cradle 20 allows adjustment of the distance between the two actuators 10 and 11. The width 201 of the cradle 20, measured between the internal surfaces (i.e., opposite the user's hips) of the actuators, can be between 30 and 55 cm. Furthermore, the width 201 can be reduced or increased by an adjustment of at least 25 cm. The depth 202 of the cradle 20 corresponds to the distance, in the sagittal plane of the user; between the internal surface (i.e. opposite the lower back of the user) of the rear part of the cradle 20, for example of compartment 21, and the center of the actuators 10 and 11.The depth of the cradle 20 can be between 25 and 30 cm, preferably 28 cm. The depth of the cradle 20 can be reduced or increased by an adjustment of at least 5 cm.

[0035] Two implementation modes are possible for adjusting the width 201 and the depth 202 of the cradle 20. In a first implementation mode, a single adjustment system allows the adjustment of the width 201 and the depth 202 of the cradle 20. This unique adjustment system can, for example, adjust the width 201 and the depth 202 by correlating a change in width with a change in depth of cradle 20 with a ratio between 0.2 and 3, preferably 0.2. In other words, for a ratio of 0.2, an increase (respectively, a decrease) of 1 cm in the width 201 increases (respectively, decreases) the depth 201 by 0.2 cm. In this first implementation, adjusting the width 201 and the depth 202 is simplified since only one adjustment is required. Furthermore, the weight of the exoskeleton is reduced since only one system is needed. In a second implementation mode, two independent adjustment systems allow the adjustment of the width 201 and the depth 202 of the cradle 20. Thus, the modifications of the width 201 and the depth 202 of the cradle 20 are adjustable independently.In this second implementation mode, exoskeleton 1 can adapt to more atypical user morphologies, i.e., those whose pelvic width / depth ratio deviates from a standard ratio.

[0036] Figure 4 shows a schematic representation from a third viewpoint of an example of an exoskeleton 1 according to the invention. Figure 4 illustrates a detailed example of the thigh structures 30 and 31. For the sake of simplicity, we will describe only the left thigh structure 30 in the following section, but the right thigh structure 31 has the same characteristics as the left thigh structure 30. The thigh structure 30 is adapted to encircle the user's left thigh. The thigh structure 30 may include a thigh harness 301 and a thigh spatula 302. The thigh harness 301 is adapted to encircle one of the user's thighs. For example, the thigh harness 301 may include a thigh attachment system comprising two elastic straps 303 adapted to encircle the thigh.Each elastic belt 303 is attached to the thigh harness 301 at one end and includes, at its other end, an attachment system 3031 that can be inserted into a dedicated receiver 3015 fixed to the harness 301. When the attachment system 3031 is inserted into the receiver 3015, the harness 301 is thus held against the user's thigh. A principal axis of the thigh harness 301 is preferably parallel, in a frontal plane of the user, to the principal axis of the user's thigh. The thigh spatula 302 is connected to the actuator 10 by its upper end and to the thigh harness 301 by its lower end. The upper connection 3021, i.e.The connection at the upper end of the thigh spatula 302, between the thigh spatula 302 and the actuator 10, includes a pivot-type joint allowing rotation about an axis 3022 perpendicular to the longitudinal axis 511 of the dorsal tube 51 and perpendicular to the axis 100 formed by the actuators 10 and 11. This joint allows abduction and adduction of the user's leg. The lower connection 3011, i.e., the connection at the lower end of the spatula. Thigh 302, located between the thigh spatula 302 and the thigh harness 301, comprises a two-pivot joint and a slide. This joint allows two rotations and one translation. This joint allows, for example: • a rotation around an axis 3012 perpendicular to the longitudinal axis 511 of the dorsal tube 51 and perpendicular to the axis 100. The degree of freedom in rotation around the axis 3012 makes it possible in particular to compensate, during an abduction or adduction movement of the hip, for the offset between the axis of rotation 3021 and the center of rotation of the user's left hip. • a rotation around an axis 3013 parallel to axis 100. The degree of rotational freedom around axis 3013 makes it possible, in particular, to compensate, during a flexion or extension movement of the hip, for the offset between the center of rotation of actuator 10 and the center of rotation of the user's left hip, and • a translation along an axis 3014 perpendicular to the axis 100 and contained in a plane formed by a slide 3017 of the thigh harness 301. The slide 3017 allows a sliding parallel to the main axis of the thigh harness 301. The degree of freedom in translation makes it possible in particular to compensate, during a flexion or extension movement of the hip, for the offset between the center of rotation of the actuator 10 and the center of rotation of the user's left hip.

[0037] The thigh spatula 302 can be formed from a single piece, for example, a one-piece machined part. Furthermore, the thigh spatula 302 can have a closed profile, that is, it can have a hollow and completely closed cross-section. The thigh spatula 302 can, for example, be a bent extruded tube. The thigh spatula 302 can be made of aluminum or composite material.

[0038] Fig. 5 shows a schematic representation of an example of a thigh harness 301 according to the invention.

[0039] The thigh harness 301 may include a suitable means for maintaining the thigh harness 301 at a predetermined height relative to the thigh spatula 302. The retention system is particularly adapted to generate a force in a first direction when the thigh harness 301 moves relative to the thigh spatula 302 in a direction opposite to the first direction. For example, the thigh harness may include a suitable means for maintaining the thigh harness at a predetermined height, for example, at a midline height, of the user's thigh. Indeed, when the thigh harness 301 includes a translational degree of freedom about axis 3014, the thigh harness 301 may tend to slide along the user's thigh. In particular, the thigh harness 301 may slide down the user's thigh, i.e., towards the user's knee. In order to To eliminate or limit this slippage, the thigh harness 301 may include a retention system as illustrated in [Fig. 5]. For example, the thigh harness 301 may include an elastic band 3016 attached to the thigh harness 301 at two lower ends 3016a and 3016b. The two lower ends 3016a and 3016b can be located at the level of the slide 3017, preferably at the lower end of the slide 3017. The elastic 3016 forms a loop 3016c which is oriented upwards, located at the level of the slide 3017. The elastic 3016 can be deformed parallel to the axis 3014 in order to remain in the slide 3017. When the thigh harness 301 is mounted on the thigh spatula 302, the elastic can encircle the lower end of the thigh spatula 302.Thus, the elastic loop is adapted to encircle the lower link 3011 between the thigh spatula 302 and the thigh harness 303 and exert an upward force parallel to the axis of the slide 3017. This force maintains the thigh harness 301 in a predetermined position relative to the user's thigh, or at least limits the slippage of the thigh harness 301 along the user's thigh. The elastic may be made of metallic material, polymer material, or elastomer. Furthermore, the elastic may include a fabric surface. The length of the elastic, when at rest, may be between 6 and 10 cm, preferably 8 cm, for a slide with a length of 13 cm. Thus, the length of the elastic can be equal to 2 / 3 of the length of the slide, i.e. the end of the loop of the elastic is at about 1 / 3 of the length of the slide.The elastic band is designed so that, when stretched, its length is twice the length of the slide; that is, so that the end of the elastic band loop is positioned at the top end of the slide 3017 when the bottom ends 3016a and 3016b are positioned at the bottom end of the slide 3017. Thus, the elastic band preferentially generates a holding force over a length approximately two-thirds the length of the slide. The elastic band length is the distance, along the surface of the elastic, between its two bottom ends. It should be noted that this holding system can be used for any leg harness that might slip down a user's thigh.

[0040] The exoskeleton 1 may include an electronic circuit (in one or more parts) equipped with at least one non-volatile memory and a processor for performing logical operations. It may also include one or more other memories, such as random access memory (RAM) or another type, such as Flash or micro SD, and one or more other processors. The processor may be a microprocessor or a microcontroller. A microcontroller is a compact integrated circuit designed to manage a specific operation in an integrated system. A typical microcontroller includes a processor, memory, and Input / output (I / O) peripherals on a single chip. The exoskeleton 1 can also include a six-axis inertial measurement unit (IMU) for placement on the rear of the cradle 20, for example in compartment 21, and adapted to measure the acceleration and angular velocity of the user's lumbar region. The exoskeleton 1 is therefore suitable for implementing a control method for a walking assistance exoskeleton. For example, the exoskeleton 1 is suitable for implementing the control method disclosed in patent application FR2405021 filed on May 16, 2024, by Decathlon. For example, the exoskeleton 1 is suitable for implementing a control method comprising: • measure : • of an acceleration and angular velocity of the user's lumbar region by the six-axis inertial measurement unit, and • of an angle and a rotational speed of the first and second actuators, the rotational speed of the first and second actuators being positive during hip flexion of the user, • determination, based on measurements: • of a phase of a walking activity cycle from among at least one set of phases of the walking activity cycle, the at least one walking activity cycle being defined for the user's first hip, • of a period of walking activity among: • the beginning of walking activity, • an environment conducive to pedestrian activity, and • the end of a walking activity, and • the slope of a piece of terrain on which the pedestrian activity takes place, the slope of the terrain being negative during a descent and positive during an ascent, • modulation of the current intensity supplied by the energy source according to the determined phase of the pedestrian activity cycle, the determined period of the pedestrian activity, and the determined slope of the terrain, and • application of modulated current to the first and second hip actuators.

Claims

Demands

1. Exoskeleton (1) for assisting a user in a walking activity comprising: - A chest harness (40) designed to encircle the user's torso, - left (10) and right (11) actuators adapted to assist a flexion and extension movement of the user's left and right hips respectively, the left (10) and right (11) actuators being: • attached to a cradle (20) adapted to surround a user's waist, and • respectively linked to left (30) and right (31) thigh structures adapted to enclose the user's left and right thighs respectively, and - A dorsal structure (50) comprising a dorsal tube (51) with: • a lower end of the dorsal tube (51) connected to the cradle (20) by a lower link (52), the lower link (52) being of the pivot type allowing rotation around an axis (521) perpendicular to a longitudinal axis (511) of the dorsal tube (51), and perpendicular to an axis (100) formed by the actuators (10, 11), and • an upper end of the dorsal tube (51) linked to the chest harness (40) by an upper link (53), the upper link (53) being of the double pivot type allowing a first rotation around an axis (531) parallel to the axis (100) formed by the actuators (10, 11) and a second rotation around the longitudinal axis (511) of the dorsal tube (51).

2. Exoskeleton (1) according to claim 1 wherein each thigh structure (30) and (31) comprises: a thigh harness (301, 311) adapted to encircle one of the user's thighs, and a thigh spatula (302, 312): • related to the actuator (10, 11), at the level of its upper end, by means of an upper pivot-type linkage (3021, 3121) allowing rotation around an axis (3022, 3122) perpendicular to the longitudinal axis (511) of the dorsal tube (51) and perpendicular to the axis (100) formed by the actuators (10, 11), and attached to the thigh harness (301, 311), at its lower end by a lower connection (3011, 3111) of two pivots and a slide allowing: - a rotation around an axis (3012, 3112) perpendicular to the longitudinal axis (511) of the dorsal tube (51) and perpendicular to the axis (100) formed by the actuators (10, 11), - a rotation around an axis (3013, 3113) parallel to the axis (100) formed by the actuators (10, 11), and - a translation along an axis (3014, 3114) perpendicular to the axis (100) formed by the actuators (10, 11) and included in a plane formed by a slide (3017, 3117) of the thigh harness (301, 311).

3.

4. Exoskeleton (1) according to claim 2 in which each spatula of thigh (302, 312) is formed from a single piece presenting a closed profile. Exoskeleton (1) according to claim 2 or 3 in which each thigh harness (301, 311) includes a support system adapted to maintain the thigh harness (301, 311) at a predetermined height relative to the thigh spatula (302, 312), the support system generating a force in a first direction when the thigh harness (301, 311) moves relative to the thigh spatula (302, 312) in a direction opposite to the first direction.

5. Exoskeleton (1) according to the preceding claim wherein the thigh harness retention system (301, 311) comprises an elastic band attached to the thigh harness (301, 311) by two lower ends (3016a, 3016b) and forming an upward-facing loop (3016c), the loop being adapted to enclose the lower link (3011, 3111) of the thigh spatula (302, 312).

6. Exoskeleton (1) according to any one of the preceding claims wherein a total length of the dorsal tube (51) is adjustable over an adjustment length of between 0 and 10 centimeters.

7. Exoskeleton (1) according to any one of the preceding claims further comprising an interchangeable lumbar belt attached to the cradle (20).

8. Exoskeleton (1) according to any one of the preceding claims wherein a width and depth of cradle (20) are adjustable with a unique adjustment system correlating the width and depth of cradle (20) with a depth-to-width ratio of 0.

2.

9. Exoskeleton (1) according to any one of the preceding claims wherein a width and depth of the cradle (20) are independently adjustable with two adjustment systems.

10. Exoskeleton (1) according to any one of the preceding claims wherein the weight of the exoskeleton (1) is less than 10 kilograms.

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