Physiological joint actuator

Abstract

The invention relates to an underactuated exoskeleton for a lower limb of an individual, the exoskeleton comprising: - a torso support configured to be attached to the individual's torso and comprising a motorised actuator secured to the torso support for generating a rotary motion about an axis perpendicular to the sagittal plane of the individual; - a lower limb segment support configured to be attached to the lower limb; -and an articulated arm connected to the torso support and to the segment support so as to form an articulated connection. A first end of the articulated arm is connected to the torso support and a second end of the articulated arm is connected to the lower limb segment support, wherein the articulated connection is configured to move the lower limb in a plane parallel to the sagittal plane by displacing the second end in the parallel plane.

Description

Description Title: Physiological Joint Actuator Technical field

[0001] This disclosure relates to the field of exoskeletons, and more particularly to the field of exoskeletons and robotic orthoses for lower limbs. Prior art

[0002] The use of exoskeletons in various fields has become relatively common in recent years. Such use is of real interest in rehabilitation programs, for example, for individuals paralyzed following a stroke, which has resulted in paralysis of certain limbs of the individual (e.g. hemiplegia).

[0003] Such use is also of interest in the field of motor assistance for the lower limbs of able-bodied or disabled people. For example, for people with femoral amputees, the use of such a device in addition to their leg prosthesis can provide assistance with walking in difficult situations (slopes, stairs, etc.).

[0004] Indeed, traditionally, in the context of gait rehabilitation for a post-stroke hemiplegic patient, the patient is suspended using a pelvic harness and a gallows so that their feet touch the ground. Thanks to this suspension, the patient's legs only take on a fraction of their weight, left to the operator's discretion. The ground is replaced by an active or passive walking mat. Two parallel bars serving as handrails frame the patient. The patient is shod and equipped with a foot lift on the lower limb to be rehabilitated.

[0005] The use of rehabilitation exoskeletons therefore makes it possible to reproduce the manual rehabilitation process by allowing the movement of a patient's lower limbs with kinematics close to walking. In addition, it makes it possible to improve the rehabilitation process, in particular by increasing the duration and frequency of rehabilitation sessions and by offering rehabilitation exercises that were previously difficult, or even impossible, for the practitioner to implement alone.

[0006] One of the challenges in the design of exoskeletons for manufacturers is to respect the human biomechanics involved in the kinematics of walking. Indeed, not only can the movements of the human body not be reduced to a few degrees of freedom in rotation, for example in the sagittal plane for locomotion, but it is also important to take into account two major aspects to adjust an exoskeleton to a person (or patient): on the one hand the very large inter-individual anatomical variability which requires developing capacities for adaptation or adjustment of exoskeletons, and on the other hand it is not possible (without the use of "heavy" means) to precisely identify on an individual (or patient) the position of the axes of rotation of their joints.

[0007] As a result, the difficulty of adjusting an exoskeleton to a person causes misalignments of the exoskeleton's rotation axes with respect to the anatomical axes. These defects alignment can induce harmful effects for the user: slippage on the skin of the connecting elements, undesirable mechanical constraints on the anatomical joints and deformations of the body tissues evolving during movement.

[0008] For this reason, it is known to use, in addition to the so-called active degrees of freedom, i.e. comprising at least one actuator, passive degrees of freedom which are completely free degrees of freedom or provided with elastic elements allowing movement around a neutral position, but (and / or) also to provide kinematic architectures of exoskeletons whose property is to self-align the axes of rotation of the exoskeleton on the anatomical axes.

[0009] Examples and embodiments of such kinematic architectures of lower limb exoskeletons are presented in patent EP 3 522 848 B1 and the article “B. Choi et al., A self-aligning knee joint for walking assistance devices, 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2016, pp. 2222-2227.

[0010] However, these examples and embodiments do not specifically aim at eliminating or minimizing unwanted mechanical stresses on anatomical joints and body tissues but rather aim at providing a solution that is kinematically compatible with the joint such as the knee.

[0011] This disclosure improves the situation. Summary There is provided an under-actuated exoskeleton for a lower limb of an individual (P), the exoskeleton comprising: - a trunk support configured to be fixed to at least part of the individual's trunk and comprising a motorized actuator secured to said trunk support comprising a drive axis configured to generate a rotary movement around an axis perpendicular to the sagittal plane of the individual, - a lower limb segment support configured to attach to the lower limb, an articulated arm connected to the trunk support and to the lower limb segment support so as to form an articular connection between the trunk support and the lower limb segment support, the articulated arm being connected to the trunk support by a first end pivotally mounted with the trunk support, said first end being configured to be rotated by said drive axis of the motorized actuator, and the articulated arm being connected to the lower limb segment support by a second end pivotally mounted with said lower limb segment support, and wherein the articulated arm comprises a first arm and a second arm, in series articulated to each other by an intermediate joint between the two arms,the first end provided at one end of the first arm and the second end provided at one end of the second arm, wherein, at least in one position of said articulated arm, the joint connection is configured to cause the lower limb to move in a plane parallel to the sagittal plane by moving said second end in said parallel plane, said joint connection configured to, transmitting a torque generated at the first end by pivoting the drive shaft of the motorized actuator into a torque at the second end causing movement of the lower limb segment.

[0012] The joint connection is preferably further configured to comprise a plurality of passive degrees of freedom, such that the individual can perform, without being constrained by the exoskeleton, at least one movement: - abduction and / or adduction of a body segment of the lower limb, in particular of one or more joints of the lower limb, in particular of the hip -and / or rotation around the longitudinal axis of the lower limb, in particular internal and / or external rotation of one or more joints of the lower limb, in particular the hip - and / or flexion or extension of the knee and flexion or extension of the hip when the lower limb support is a leg support.

[0013] In one or more embodiments, the articulated arm comprises two deformable parallelograms comprising a first deformable parallelogram forming the first arm and a second deformable parallelogram forming the second arm, in series, - said first parallelogram having a first support, a second support and two connecting rods connecting the first support and the second support, the two connecting rods comprising a first connecting rod and a second connecting rod; said first support belonging to the first end, the first support being integral in rotation with the drive shaft, the first support and the second support being connected by the first and second parallel connecting rods, - said second parallelogram having a third support, a fourth support, a third connecting rod and a fourth connecting rod, the third support rigidly secured to the second support and forming with the second support a series connection, and the fourth support belonging to the second end coupled to the lower member support, and in which the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are articulated on the series connection according to four pivot connections parallel to each other forming the intermediate articulation between the two arms.

[0014] Such an embodiment comprising the first deformable parallelogram and the second deformable parallelogram in series is a joint connection solution configured to transmit a torque generated at the first end (namely here the first support), by pivoting the drive axis of the motorized actuator, into a torque at the second end (here the fourth support) causing the movement of the lower limb segment.

[0015] When the lower limb segment support is a leg support, such an articular connection solution (having the first deformable parallelogram and the second deformable parallelogram in series) advantageously offers passive degrees of freedom allowing the wearer combined flexion movements of the hip and knee joints in the sagittal plane, or conversely combined extension movements of the hip and knee joints in the sagittal plane, and while the drive axis of the motorized actuator is locked in rotation.

[0016] During these flexion or extension movements, the fourth support (forming the second end of the joint connection), and thus the leg support can translate in two directions of the sagittal plane, without changing orientation in the sagittal plane which is imposed by the double parallelogram connection.

[0017] In one or more embodiments, the first end comprises at least a first pivot connection perpendicular to the drive axis of the motorized actuator, said first pivot connection being movable in rotation with the drive axis of the motorized actuator so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb on itself in the standing position.

[0018] In one or more embodiments, the first end further comprises a second pivot connection perpendicular to the drive axis of the motorized actuator, said second pivot connection being movable in rotation with the drive axis of the motorized actuator and configured to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support in the standing position.

[0019] In one or more embodiments, the first pivot link is perpendicular to the second pivot link.

[0020] In one or more embodiments, wherein the second end) comprises at least one third pivot link perpendicular to at least one of the four mutually parallel pivot links (A1, A2, A3, A4) so ​​as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb along an axis parallel to the sagittal plane.

[0021] In one or more embodiments, the first connecting rod and the second connecting rod are articulated to the first support by pivot links (A5, A6) parallel to the pivot links forming the articular articulation.

[0022] In one or more embodiments, the first connecting rod and the second connecting rod are articulated to the first support by ball joints (A9, A10), said ball joints configured so as to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support.

[0023] In one or more embodiments, the third connecting rod and the fourth connecting rod are articulated to the second support by pivot links (A7, A8) parallel to the pivot links forming the articular link.

[0024] In one or more embodiments, the third connecting rod and the fourth connecting rod are articulated to the second support by ball joints (A11, A12).

[0025] In one or more embodiments, the exoskeleton has a single active link defined by the drive axis.

[0026] In one or more embodiments, the exoskeleton comprises a plurality of springs and / or dampers arranged between the first arm and the intermediate joint and / or between the second arm and the intermediate joint so as to transfer the weight of the articulated arm to the trunk support.

[0027] In one or more embodiments, the springs and / or dampers are coil springs or tension-compression and / or torsion and / or bending springs or a combination of these springs.

[0028] In one or more embodiments, at least one of the first pivot link and / or the second pivot link and / or the third pivot link comprises a tension / compression spring and / or a torsion spring.

[0029] In one or more embodiments, the lower limb segment support is a leg support.

[0030] In one or more embodiments, the lower limb segment support is a thigh support.

[0031] Also provided is an under-actuated exoskeleton for a lower limb of an individual (P), the exoskeleton comprising: - a trunk support configured to be fixed to at least part of the individual's trunk and comprising a motorized actuator secured to said trunk support comprising a drive axis configured to generate a rotary movement around an axis perpendicular to the sagittal plane of the individual, - a lower limb segment support configured to attach to the lower limb, an articulated arm connected to the trunk support and to the lower limb segment support so as to form an articular connection between the hip support and the lower limb segment support, the articulated arm being connected to the trunk support by a first end pivotally mounted with the trunk support and comprising an input transmission shaft secured to the drive axis of the motorized actuator, and the articulated arm being connected to the lower limb segment support by a second end pivotally mounted with said lower limb segment support and comprising an output transmission shaft secured to said lower segment support, and wherein the articulated arm comprises a first arm and a second arm, in series articulated to each other by an intermediate articulation between the two arms,the first end provided at one end of the first arm and the second end provided at one end of the second arm, said intermediate joint comprising an intermediate transmission shaft, and wherein:, - a first transmission secured to the first arm connects said input shaft in rotation to said intermediate transmission shaft, and - a second transmission secured to the second arm connects said intermediate shaft and said output shaft in rotation and in which, at least in one position of said articulated arm, the joint connection is configured to drive the lower limb in movement in a plane parallel to the sagittal plane by moving said second end in said parallel plane, said joint connection configured to transmit a torque generated at the first end by pivoting the drive shaft of the motorized actuator into a torque at the second end driving movement of the lower limb segment.

[0032] Preferably, the joint connection is further configured to comprise a plurality of passive degrees of freedom, so that the individual can perform, without being constrained by the exoskeleton, at least one movement: - abduction and / or adduction of a body segment of the lower limb, in particular of one or more joints of the lower limb, in particular of the hip and / or - rotation around the longitudinal axis of the lower limb, in particular internal and / or external rotation of one or more joints of the lower limb, in particular the hip and / or - flexion or extension of the knee and flexion or extension of the hip when the lower limb support is a leg support.

[0033] Such an embodiment comprising the first arm and the second arm (thus the first transmission integral with the first arm connecting in rotation said input shaft to said intermediate transmission shaft and the second transmission integral with the second arm connecting in rotation said intermediate shaft and said output shaft) is an articular connection solution configured to generate a torque at the second end causing the movement of the lower limb segment when the input shaft is driven in rotation by the drive axis of the motorized actuator.

[0034] When the lower limb segment support is a leg support, such an articular connection solution advantageously offers passive degrees of freedom allowing the wearer combined flexion movements of the hip and knee in the sagittal plane, and in a similar manner to the solution with two deformable parallelograms in series.

[0035] During these flexion or extension movements, the second end of the arm (and thus the leg support) can translate in two directions, without changing orientation in the sagittal plane.

[0036] In one or more embodiments: - the first transmission comprises a toothed belt or a chain connecting in rotation, a toothed pulley or a pinion of the input shaft and a toothed pulley or a pinion of the intermediate shaft, and - the second transmission comprises a toothed belt or chain connecting in rotation, a toothed pulley or a pinion of the intermediate shaft and a toothed pulley or a pinion of the output shaft.

[0037] In one or more embodiments, the input shaft includes an input gear and the intermediate shaft includes a driven gear, connected to the input gear by gearing to form the first transmission, and the intermediate shaft includes a drive gear connected to an output gear of the output shaft by gearing to form the second transmission.

[0038] In one or more embodiments, the gearing between the input gear and the driven gear comprises an intermediate gear meshing simultaneously with the input gear and the driven gear, or a plurality of intermediate gears in series, comprising a first gear in the series meshing with the input gear and a last gear in the series meshing with the driven gear, and wherein the gearing between the drive gear and the output gear comprises an intermediate gear meshing simultaneously with the drive gear and the output gear or a plurality of intermediate gears in series, comprising a first gear in the series meshing with the drive gear and a last gear in the series meshing with the output gear.

[0039] In one or more embodiments, the input gear, the driven gear, the drive gear, and the output gear are bevel gears, and wherein: - the first transmission comprises a first shaft, articulated to the first arm, extending along the length of the first arm, comprising at one end a receiving bevel gear meshing with the input gear of the input transmission shaft and at another end a driving bevel gear meshing with the receiving gear of the intermediate transmission shaft, - the second transmission comprises a second shaft, articulated to the second arm, extending along the length of the second arm, comprising at one end a receiving bevel gear meshing with the drive gear of the intermediate transmission shaft and at another end a drive bevel gear meshing with the gear of the output transmission shaft.

[0040] In one or more embodiments, the first end comprises at least a first pivot connection perpendicular to the drive axis of the motorized actuator, said first pivot connection being movable in rotation with the drive axis of the motorized actuator so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb on itself in the standing position.

[0041] In one or more embodiments, the first end further comprises a second pivot connection perpendicular to the drive axis of the motorized actuator, said second pivot connection being movable in rotation with the drive axis of the motorized actuator and configured so as to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support in the standing position.

[0042] In one or more embodiments, the first pivot link is perpendicular to the second pivot link.

[0043] In one or more embodiments, the second end comprises at least a third pivot connection perpendicular to the intermediate transmission shaft so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb along an axis parallel to the sagittal plane.

[0044] In one or more embodiments, the exoskeleton has a single active link defined by the drive axis.

[0045] In one or more embodiments, the exoskeleton comprises a plurality of springs and / or dampers arranged between the first arm and the intermediate joint and / or between the second arm and the intermediate joint so as to transfer the weight of the articulated arm to the trunk support.

[0046] In one or more embodiments, the springs and / or dampers are coil springs or tension-compression and / or torsion and / or bending springs or a combination of these springs.

[0047] In one or more embodiments, at least one of the first pivot link and / or the second pivot link and / or the third pivot link comprises a tension / compression spring and / or a torsion spring.

[0048] In one or more embodiments, the lower limb segment support is a leg support.

[0049] In one or more embodiments, the lower limb segment support is a thigh support. Brief description of the drawings

[0050] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which. Fig. 1

[0051] [Fig. 1] illustrates a schematic view of an exoskeleton mounted on a lower limb of an individual. Fig. 2a

[0052] [Fig. 2a] illustrates a mechanical diagram of the exoskeleton according to a first embodiment. Fig. 2b

[0053] [Fig. 2b] illustrates a perspective view of the exoskeleton according to the first embodiment. Fig. 3

[0054] [Fig. 3] illustrates a mechanical diagram of the exoskeleton according to a second embodiment. Fig. 4

[0055] [Fig. 4] illustrates an exoskeleton comprising a plurality of shock absorbers. Fig. 5a

[0056] [Fig. 5a] illustrates the general concept of alternative embodiments. Fig. 5b

[0057] [Fig. 5b] illustrates a first alternative embodiment. Fig. 5c

[0058] [Fig. 5c] illustrates a second alternative embodiment. Fig. 5d

[0059] [Fig. 5d] illustrates a third alternative embodiment. Fig. 6a

[0060] [Fig. 6a] illustrates an example of the active degree corresponding to the actuation of the articulated arm in the sagittal plane. Fig. 6b

[0061] [Fig. 6b] illustrates a first example of movement involving one or more passive degrees. Fig. 6c

[0062] [Fig. 6c] illustrates a second example of movement involving one or more passive degrees. Fig. 6d

[0063] [Fig. 6d] illustrates a third example of movement involving one or more passive degrees. Description of the embodiments

[0064] Figure 1 illustrates a schematic view of an exoskeleton according to the present disclosure mounted on a lower limb of an individual.

[0065] With reference to Figure 1, the exoskeleton 100 may comprise a trunk support 110a, preferably a rigid trunk support, configured to attach to at least a portion of the individual's trunk, for example to the individual's pelvis. For example, the trunk support may be a rehabilitation harness which may also be configured to allow the patient to be attached to supports fixed at a height. Furthermore, since the harness is configured to be secured to the patient's pelvis, it may be particularly suitable for actuating the hip, the pelvis of which constitutes the proximal segment.

[0066] The trunk support (eg harness) may further comprise a motorized actuator (not shown in Figure 1) which is integral with the trunk support. The motorized actuator may comprise a drive shaft configured to generate a rotary movement around an axis perpendicular to the sagittal plane of the individual / patient. The sagittal plane (SGT in Figure 1) may correspond to the plane dividing the body into two right and left parts in the XY plane. The transverse plane (TRV in Figure 1), also called the axial plane, may correspond to the plane dividing the body into two parts, upper and lower, in the XZ plane. The frontal plane (FRT in Figure 1) may correspond to the plane dividing the body into two parts, front and rear, in the YZ plane. For example, the motorized actuator can be an electric motor, or a pneumatic motor.

[0067] The exoskeleton may further comprise a support 110b, preferably rigid, for the lower limb segment 105 and which may be configured to attach to the lower limb.

[0068] By lower limb, we can understand the thigh, the leg or the thigh-leg and feet of the individual / patient.

[0069] For example, the trunk support and / or the lower limb segment support may be made of plastic and / or composite material(s).

[0070] In one or more embodiments, the lower limb segment support may be a thigh support or a leg support.

[0071] The exoskeleton may include an articulated arm 130 connected to the trunk support and the lower limb segment support so as to form an articular connection between the trunk support 110a and the lower limb segment support 110b.

[0072] According to one example, the articulated arm may be connected to the trunk support by a first end 120a pivotally mounted with the trunk support. For example, the first end may be configured to be driven in rotation R1 by the drive axis of the motorized actuator 210. The articulated arm may be further connected to the lower limb segment support by a second end 120b pivotally mounted with the lower limb segment support.

[0073] Further, the articulated arm may comprise a first arm 130a and a second arm 130b in series articulated to each other by an intermediate joint 130c between the two arms. The first end 120a may be provided at one end of the first arm 130a and the second end 120b may be provided at one end of the second arm 130b.

[0074] In addition, for at least one position of said articulated arm, the joint connection can be configured to move the lower limb 105 in a plane parallel to the sagittal plane by moving the second end in this parallel plane.

[0075] The joint connection can be configured to transform a torque generated at the first end by pivoting the drive axis of the motorized actuator into a torque of forces F1, F2 at the second end causing the movement of the lower limb.

[0076] Thus, the actuation of the articulated arm by the motorized actuator, via the drive axis, makes it possible to generate a torque of forces F1, F2, via the joint connection, at the level of the lower limb (eg thigh or leg) thus causing a translational and / or rotational movement in a plane parallel to the sagittal plane of the lower limb when the longitudinal axis of the lower limb is parallel to the sagittal plane.

[0077] Furthermore, such a configuration allows to apply the force couple F1, F2 in a direction parallel to the axis of rotation Ax_R1 (see figure 2a) of the expected movement, the moment of the force couple F1, F2 is located in the plane perpendicular to the axis of the expected movement.

[0078] One of the advantages of using the force couple is the absence of mechanical reaction that the individual's joint must develop, for example at the knee as is the case in the aforementioned prior art, and / or at the hip, to ensure the balance of the articular segment of the lower limb. The application of a force couple is therefore, a priori, less likely to cause joint damage if it is applied in the correct plane, that is to say a plane as parallel as possible to the sagittal plane.

[0079] In one or more embodiments, the exoskeleton may have a single active link defined by the drive axis.

[0080] Indeed, the joint connection can be configured to have only one degree of connection (or actuated degree of freedom), and a plurality of non-actuated (or passive) degrees of freedom, for example at least five passive degrees of freedom, so that the patient / individual can perform, without being constrained by the exoskeleton, abduction / adduction movements of a body segment of the lower limb and / or rotation movements around the longitudinal axis of the lower limb and / or flexions of a body segment relative to another body segment such as flexion of the knee for example.

[0081] In one or more embodiments, the segment support 110b (also called a tie-back) and the articulated arm may be configured so that the connection to each other can allow a removable connection, i.e., one that can be mounted and dismounted quickly, for example in a few seconds, and without tools. For example, a push button may allow the segment support 110b to be unlocked and released from the articulated arm 130.

[0082] According to one example, the segment support 1 10b can cover approximately % of the perimeter of the lower limb by a semi-rigid shell having interface elements with the patient and can be completed by one or more flexible straps having on the one hand a rapid length adjustment device, for example using a non-return ratchet, and on the other hand a tightening device, for example by a toggle.

[0083] In one or more embodiments, a mechanical fuse may be included between the segment support and the articulated arm in order to protect the patient from excessive mechanical stress coming from the motorized actuator of the exoskeleton. This mechanical fuse may, for example, take the form of a grooved connection whose teeth are broken in the event of a torque exceeding a threshold value. In a non-destructive version, this mechanical fuse may take the form of a mechanical torque limiter, for example friction and / or ball and spring(s).

[0084] Figures 2a to 2b illustrate a first embodiment of the exoskeleton.

[0085] In particular, Figure 2a illustrates a mechanical diagram of the exoskeleton according to this first embodiment, and Figure 2b illustrates a perspective view of an exoskeleton mounted on a lower limb (here the thigh) according to this first embodiment.

[0086] In one or more embodiments, the articulated arm may comprise two deformable parallelograms comprising a first deformable parallelogram forming the first arm 130a and a second deformable parallelogram forming the second arm 130b, in series.

[0087] The first parallelogram may have a first support 120a1, a second support 130c1 and two connecting rods connecting the first support 120a1 and the second support 130c1. The two connecting rods may comprise a first connecting rod 130a1 and a second connecting rod 130a2.

[0088] The first support 120a1 may belong to the first end 120a, and the first support may be coupled to the drive shaft according to a degree of rotational connection of the drive shaft. Furthermore, the first support and the second support may be connected by the first and second parallel connecting rods.

[0089] The second parallelogram may have a third support 130c2, a fourth support 120b1, a third connecting rod 130b1 and a fourth connecting rod 130b2.

[0090] The third support 130c2 may be rigidly secured to the second support 130c1 and may form a series connection with the second support. The fourth support 120b1 may belong to the second end 120b coupled to the lower limb support.

[0091] Furthermore, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod can be articulated on the series connection according to four parallel pivot connections A1, A2, A3, A4, between them forming the intermediate articulation between the two arms 130a and 130b.

[0092] Thus, the parallelograms can be mounted pivotally relative to each other by the series connection. In particular, they can be mounted pivotally relative to each other in a plane parallel to the sagittal plane for at least one position of said articulated arm.

[0093] In one or more embodiments, the deformable parallelograms may be symmetrical or asymmetrical to each other (having different dimensions such as widths and / or lengths for example).

[0094] In one or more preferred embodiments, the adjacent sides 130c1 and 130c2 (corresponding to the second support and third support) of the parallelograms formed by the four parallel pivot links A1, A2, A3, A4 (the sides of shorter length) may be perpendicular to each other.

[0095] In one or more embodiments, the first connecting rod 130a1 and the second connecting rod 130a2 can be articulated to the first support 120a1 by pivot links A5, A6.

[0096] Likewise, in one or more embodiments, the third connecting rod 130b1 and the fourth connecting rod 130b2 can be articulated to the second support 120b1 by pivot links A7, A8.

[0097] In one or more embodiments, the pivot links A5, A6 and / or A7 and A8 may be parallel to one or more pivot links A1, A2, A3 and A4 forming the intermediate articulation between the two arms.

[0098] In one or more embodiments, the first end 120a may comprise at least one first pivot connection 125a1 perpendicular to the drive axis of the motorized actuator 210.

[0099] The first pivot connection 125a1 can be movable in rotation with the drive axis of the motorized actuator 210 so as to obtain a passive degree of freedom of the lower limb 105 defined by a rotation of the lower limb on itself in the standing position.

[0100] Thus, such a pivot connection 125a1 may allow the exoskeleton wearer to rotate the lower limb 105 on itself in a standing position, and thus increase the freedom of movement of the wearer via this passive degree of freedom. In addition, such a pivot connection 125a1 may allow the exoskeleton wearer to perform abduction / adduction movements of the lower limb in a sitting position.

[0101] In one or more embodiments, the first end 120a may further comprise a second pivot connection 125a2 perpendicular to the drive axis of the motorized actuator 210.

[0102] The second pivot connection 125a2 can be movable in rotation with the drive axis of the motorized actuator 210 and configured to obtain a (second) passive degree of freedom allowing at least one abduction or adduction movement of the lower limb 105 by pivoting the articulated arm relative to the trunk support 110a in the standing position.

[0103] By abduction movement of the lower limb, it can be understood the separation of the lower limb from the sagittal plane, and in a frontal plane for example. This movement can be carried out by the wearer of the exoskeleton by means of the second pivot connection 125a2.

[0104] By adduction movement of the lower limb, we can understand the opposite of the abduction movement, that is to say the bringing together of the lower limb towards the sagittal plane, and in the frontal plane for example.

[0105] In one or more embodiments, the first link 125a1 may connect the drive shaft to the first support 120a1.

[0106] In one or more embodiments, the second link 125a2 may connect the drive shaft to the first support 120a1 in particular via the first pivot link 125a1.

[0107] In one or more embodiments, the first pivot link 125a1 may be perpendicular to the second pivot link 125a2.

[0108] Likewise, according to one or more embodiments, the second end 120b may comprise at least one third pivot connection 125b2 perpendicular to at least one of the four pivot connections parallel to each other (A1, A2, A3, A4) so ​​as to obtain a (in particular third) passive degree of freedom of the lower limb defined by a rotation of the lower limb along an axis perpendicular to the sagittal plane.

[0109] This axis of rotation of the pivot link 125b2 can advantageously be placed parallel to the axis of the pivot link 125a1.

[0110] According to one or more embodiments, at least one of the first pivot link 125a1 and / or the second pivot link 125a2 and / or the third pivot link 125b2 may comprise a tension / compression spring and / or a torsion spring, and / or a damper.

[0111] By spring, we can understand an elastic mechanical energy accumulator, which can use a solid or elastic fluid(s).

[0112] By damper, we can understand a dissipator of mechanical energy, which can use friction between two solids and / or a loss of load in a fluid.

[0113] In one or more embodiments, the first pivot link 125a1 and / or the second pivot link 125a2 and / or the third pivot link 125b2 may be configured to provide elastic return in the sagittal plane of the assembly comprising the first arm 130a and the second arm 130b.

[0114] Thus, one of the three pivot links 125a1, 125a2 or 125b2, or at least two or at least all three, equipped with such an elastic return can make it possible to promote the maintenance of all of the arms 130a and 130b in the sagittal plane, in particular when the configuration of the exoskeleton is close to singular configurations that can be reached during the movement. Indeed, the evolution of a mechanism close to a singular configuration can lead to a reduction in its rigidity in one or more directions. The spring(s) placed in parallel with the pivot links 125a1, 125a2 and / or 125b2 can make it possible to counterbalance this undesirable phenomenon.

[0115] Furthermore, a plurality of dampers arranged with the springs in parallel with the pivot links 125a1 and / or 125a2 and / or 125b2 can make it possible to attenuate or eliminate the oscillating movements of the assembly of arms 130a and / or 130b on either side of the sagittal plane.

[0116] Figures 6a to 6d illustrate examples of individual movement as a function of the active degree, or one or more passive degrees.

[0117] Figure 6a illustrates an example of the active degree corresponding to the actuation of the articulated arm in the sagittal plane. In particular, Figure 6a illustrates the active degree of the articulated arm set in motion by the actuator 210 allowing flexion 1) and extension 3) of the knee, with 2) representing the nominal position of the knee.

[0118] Figure 6b illustrates a first example of movement involving one or more passive degrees. In particular, Figure 6b illustrates the possibility for the individual, when the actuator is not in operation, to be able to perform a hip extension 1) or a hip flexion 3), with 2) representing the nominal hip position. In the example of Figure 6b, the passive degree is made possible by the links A1, A2, A3, A4, as well as the links A5, A6, A7 and A8.

[0119] The illustrated joint connection (formed by the first deformable parallelogram and the second parallelogram) advantageously offers passive degrees of freedom allowing combined flexions of the hip and knee (or combined extensions of the hip and knee), when the lower limb support is a leg support and when the drive shaft (and thus the first support) is locked in rotation along the axis of rotation of the drive shaft.

[0120] We also note from figure 6b that the articular connection (with two deformable parallelograms) can make it possible to maintain a constant orientation of the fourth support and therefore of the lower limb support, namely the leg, during these flexion or extension movements, and while the drive axis (and thus the first support) is blocked in rotation along the axis of rotation of the drive axis.

[0121] Figure 6c illustrates a second example of movement involving one or more passive degrees. In particular, Figure 6c illustrates the possibility for the individual, when the actuator is not in operation, to be able to perform an internal hip rotation 1) or an external hip rotation 3), with 2) the nominal hip position. In the example of Figure 6c, the passive degree is made possible by the links A1, A2, A3, A4, A5, A6, A7 and A8 as well as the links 125a1, 125a2, and 125b2.

[0122] Figure 6d illustrates a third example of movement involving one or more passive degrees. In particular, Figure 6d illustrates the possibility for the individual, when the actuator is not in operation, to be able to perform a hip abduction 1) (and therefore the abduction of a lower limb) or a hip adduction 3) (and therefore the adduction of a lower limb), with 2) the nominal hip position. In the example of Figure 6d, the passive degree is made possible by the links A1, A2, A3, A4, A5, A6, A7 and A8 as well as the links 125a1, 125a2, and 125b2.

[0123] Figure 3 illustrates a mechanical diagram of the exoskeleton according to a second embodiment.

[0124] In this second embodiment, the characteristics of the exoskeleton presented in figure 1, 2a or 2b, in particular, are partially or totally transposable to the embodiment presented in figure 3. Thus, the same numerical references indicate the same structural references.

[0125] Likewise, in this second embodiment, the characteristics of the exoskeleton presented in figures 6a to 6d, in particular, are partially or preferably totally transposable to the embodiment presented in figure 3. Thus, the same numerical references indicate the same structural references.

[0126] In particular, the illustrated joint connection formed by the first deformable parallelogram and the second parallelogram advantageously offers passive degrees of freedom allowing combined flexions of the hip and knee (or combined extensions of the hip and knee), when the lower limb support is a leg support and while the drive axis (and thus the first support) is locked in rotation along the axis of rotation of the drive axis, and similarly to what is illustrated for figure 6b.

[0127] In particular, when the actuator is not in operation, the joint connection of Figure 3 makes it possible to perform internal rotation of the hip or external rotation of hip, with the nominal hip position: the passive degree is made possible mainly by the 125a1 links and the A1 1 and A12 links which are ball joints.

[0128] In particular, when the actuator is not in operation, the joint connection can allow hip abduction 1) (and therefore abduction of a lower limb) or hip adduction 3) (and therefore adduction of a lower limb) to be performed, with 2) the nominal hip position. The passive degree is made possible mainly by when the connections A9, A10, when formed by ball joints.

[0129] According to one or more embodiments, the first connecting rod 130a1 and the second connecting rod 130a2 can be articulated to the first support 120a1 by ball joints A9, A10.

[0130] Likewise, in one or more embodiments, the third connecting rod 130b1 and the fourth connecting rod 130b2 can be articulated to the second support 120b1 by ball joints A11, A12.

[0131] Thus one or the ball joints A9, A10, A11, A12 can be configured so as to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support, as described previously in the embodiments of figures 2a and 2b.

[0132] The ball joints can be used to reproduce a set of joints described in the embodiments of figures 2a to 2b.

[0133] For example, the ball joints A9 and A10 can reproduce both the pivot joints A5, A6 connected to the first support and the second pivot joint 125a2. Similarly, the ball joints A1 1 and A12 can reproduce both the pivot joints A7, A8 connected to the second support and the third pivot joint 125b2.

[0134] Thus, it is possible to limit the number of mechanical connections, simplifying the exoskeleton without impacting its efficiency and the degrees of freedom allowed for the wearer of the exoskeleton.

[0135] Figure 4 illustrates an exoskeleton comprising a plurality of springs and / or shock absorbers.

[0136] In this embodiment, the characteristics of the exoskeleton presented in figure 1, 2a, 2b, or even figure 3 are partially or totally transposable to the embodiment presented in figure 4. Thus, the same numerical references indicate the same structural references.

[0137] Thus, in one or more embodiments, the exoskeleton may comprise a plurality of shock absorbers and / or springs AR1, AR2 arranged between the first arm and the intermediate joint and / or arranged AR3, AR4 between the second arm and the intermediate joint so as to transfer the weight of the articulated arm to the hip support.

[0138] These shock absorbers and / or springs may be different from those arranged with the pivot links 125a1, 125a2 and 125b2.

[0139] For example, a first shock absorber and / or spring AR1 may include one end connected to the first support of the first arm and a second end connected to one of the connecting rods of the first arm. Further, a second shock absorber and / or spring AR2 may include one end connected to the second support of the first arm and a second end connected to one of the connecting rods of the first arm.

[0140] Similarly, a third shock absorber and / or spring AR3 may include one end connected to the third support of the second arm and a second end connected to one of the connecting rods of the second arm. Furthermore, a fourth shock absorber and / or spring AR4 may include one end connected to the fourth support of the second arm and a second end connected to one of the connecting rods of the first arm.

[0141] For example, the springs and / or dampers may be tension-compression and / or torsion and / or bending springs, for example helical springs, or a combination of these springs.

[0142] Figures 5a to 5d illustrate a set of alternative embodiments of the exoskeleton.

[0143] In particular, Figure 5a illustrates the general concept of the alternative embodiments. Figure 5b illustrates a first alternative embodiment. Figure 5c illustrates a second alternative embodiment. Figure 5d illustrates a third alternative embodiment.

[0144] In these alternative embodiments, the characteristics of the exoskeleton presented in figures 1, 2a, 2b, 3, 4, are partially or totally transposable to the alternative embodiments presented in figures 5a to 5d. Thus, the same numerical references indicate the same structural references.

[0145] Likewise, in these alternative embodiments, the features of the exoskeleton shown in Figures 6a to 6d, in particular, are partially or completely transposable to the alternative embodiments shown in Figures 5a to 5d. Thus, the same reference numerals indicate the same structural references.

[0146] Referring to Figure 5a, as previously described, the actuated exoskeleton 100 for a lower limb 105 of an individual may include a trunk support 110a configured to attach to at least a portion of the individual's trunk and a lower limb segment support 110b configured to attach to the lower limb.

[0147] The trunk support may comprise the motorized actuator 210 secured to the trunk support, and which comprises a drive axis configured to generate a rotary movement around an axis Ax_R1, perpendicular to the sagittal plane of the individual.

[0148] Further, according to one or more embodiments, the exoskeleton may include an articulated arm 130 connected to the trunk support and the lower limb segment support so as to form an articular connection between the hip support and the lower limb segment support.

[0149] According to one or more examples, the articulated arm 130 may be connected to the trunk support by a first end 120a pivotally mounted with the trunk support, as described previously for example. The first end may further comprise an input transmission shaft 510 secured to the drive axis of the motorized actuator 210.

[0150] According to one or more examples, the articulated arm may further be connected to the lower limb segment support by a second end 120b pivotally mounted with said lower limb segment support (not shown, as described previously for example). The second end may comprise an output transmission shaft 520 integral with said lower segment support 105.

[0151] According to one or more examples, the articulated arm may comprise a first arm 130a and a second arm 130b, articulated in series to each other by an intermediate articulation 130c between the two arms.

[0152] The first end 120a may be provided at one end of the first arm and the second end 120b may be provided at one end of the second arm, and the intermediate joint 130c may comprise an intermediate transmission shaft 530.

[0153] Furthermore, the articulated arm may comprise a first transmission 540a integral with the first arm which rotatably connects the input shaft and the intermediate transmission shaft, and may comprise a second transmission 540b integral with the second arm which rotatably connects the intermediate shaft and the output shaft.

[0154] In addition, for at least one position of the articulated arm, the joint connection can be configured to move the lower limb in a plane parallel to the sagittal plane by moving the second end 120b in the parallel plane.

[0155] The joint connection may be configured to transmit a torque generated at the first end 120a by pivoting the drive shaft of the motorized actuator into a torque at the second end 120b driving movement of the lower limb segment.

[0156] Such an embodiment comprising the first arm and the second arm, (as well as the first transmission 540a integral with the first arm connecting in rotation said input shaft to said intermediate transmission shaft, and the second transmission 540b integral with the second arm connecting in rotation said intermediate shaft and said output shaft) is an articular connection solution configured to generate a torque at the second end causing the movement of the lower limb segment when the input shaft is rotated by the drive axis of the motorized actuator.

[0157] When the lower limb segment support is a leg support, such an articular connection solution offers passive degrees of freedom allowing the wearer combined flexion movements (or combined extension movements) of the hip and knee in the sagittal plane, and in a similar manner to the solution with two deformable parallelograms in series, and like what is illustrated in Figure 6b, namely when the drive axis is locked in rotation.

[0158] During these flexion or extension movements, the second end of the arm (and thus the leg support) can translate in two directions, without changing orientation in the sagittal plane, orientation imposed by the first transmission and the second transmission.

[0159] Figure 5b illustrates a first alternative embodiment.

[0160] In this embodiment, the first transmission 540a may comprise a toothed belt or chain 540a2 rotatably connecting a toothed pulley or sprocket 540a1 of the input shaft 510 and a toothed pulley or sprocket 560 of the intermediate shaft 530.

[0161] Furthermore, the second transmission 540b may comprise a toothed belt or chain 540b2 rotatably connecting a toothed pulley or sprocket 580 of the intermediate shaft 530 and a toothed pulley or sprocket 540b1 of the output shaft 520.

[0162] Figure 5c illustrates a second alternative embodiment.

[0163] In this embodiment, the input shaft 510 may include an input gear 540a1 and the intermediate shaft 530 may include a driven gear 560 connected to the input gear by gearing to form the first transmission.

[0164] Further, the intermediate shaft 530 may include a drive gear 580 connected to an output gear 540b1 of the output shaft 520 by gearing to form the second transmission.

[0165] According to one or more examples, the gearing between the input gear 540a1 and the driven gear 560 to form the first transmission may comprise an intermediate gear 540a3 meshing simultaneously with the input gear and the driven gear, or a plurality of intermediate gears 540a3 in series, comprising a first gear of the series meshing with the input gear and a last gear of the series meshing with the driven gear.

[0166] Likewise, according to one or more examples, the gearing between the drive pinion 580 and the output pinion 540b1 to form the second transmission may comprise an intermediate pinion 540b3 meshing simultaneously with the drive pinion and the output pinion or a plurality of intermediate pinions 540b3 in series, comprising a first pinion of the series meshing with the drive pinion and a last pinion of the series meshing with the output pinion.

[0167] In one or more examples, the intermediate gear(s) of the gear between the input gear 540a1 and the driven gear 560 may be supported by the first arm 130a, and the intermediate gear(s) of the gear between the drive gear 580 and the output gear 540b1 may be supported by the second arm 130b.

[0168] Figure 5d illustrates a third alternative embodiment.

[0169] In this embodiment, the input shaft 510 may include an input pinion 540a1 and the intermediate shaft 530 may include a driven pinion 560, connected to the input pinion by gearing to form the first transmission.

[0170] Further, the intermediate shaft 530 may include a drive gear 580 connected to an output gear 540b1 of the output shaft 520 by gearing to form the second transmission.

[0171] Furthermore, the first transmission 540a may comprise a first shaft 545a, articulated to the first arm 130a, extending along the length of the first arm, comprising at one end a receiving bevel gear 545a1 in mesh with the input gear 540a1 of the input transmission shaft and at the other end a driving bevel gear 545a2 in mesh with the receiving gear 560 of the intermediate transmission shaft 530.

[0172] Furthermore, the second transmission 540b may comprise a second shaft 545b, articulated to the second arm 130b, extending along the length of the second arm, comprising at one end a receiving bevel gear 545b1 in mesh with the drive gear 580 of the intermediate transmission shaft 530 and at the other end a drive bevel gear 545b2 in mesh with the gear 540b1 of the output transmission shaft 520.

[0173] In one or more embodiments, the first end 120a may comprise at least one first pivot connection 125a1 perpendicular to the drive axis of the motorized actuator 210 (not shown in FIGS. 5a to 5d).

[0174] The first pivot connection 125a1 can be movable in rotation with the drive axis of the motorized actuator 210 so as to obtain a passive degree of freedom of the lower limb 105 defined by a rotation of the lower limb 105 on itself in the standing position.

[0175] According to one or more embodiments, the first end may further comprise a second pivot connection 125a2 perpendicular to the drive axis of the motorized actuator (not shown in FIGS. 5a to 5d).

[0176] The second pivot connection 125a2 can be movable in rotation with the drive axis of the motorized actuator 210 and configured so as to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support 110a in the standing position.

[0177] Such an embodiment comprising the first pivot connection 125a1 and the second pivot connection 125a2 advantageously offers passive degrees of freedom allowing the wearer of the exoskeleton rotational movements around the longitudinal axis of the lower limb, in particular internal and / or external rotation of one or more joints of the lower limb, in particular of the hip, and like that illustrated in figure 6c, or even adduction / abduction movements, and like that illustrated in figure 6d.

[0178] By abduction movement of the lower limb, it can be understood the separation of the lower limb from the sagittal plane, and in a frontal plane for example. This movement can be carried out by the wearer of the exoskeleton by means of the second pivot connection 125a2.

[0179] In one or more embodiments, the first link 125a1 may connect the drive shaft to the first support 120a1.

[0180] According to one or more examples, the first pivot link may be perpendicular to the second pivot link.

[0181] In one or more embodiments, the second end 120b may comprise at least one third pivot connection 125b2 perpendicular to the intermediate transmission shaft 530 (not shown in FIGS. 5a to 5d) so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb along an axis perpendicular to the axial plane of the individual in a standing position relative to the trunk support 110a.

[0182] In one or more embodiments, the exoskeleton may have a single active link defined by the drive axis.

[0183] In one or more embodiments, the exoskeleton may include a plurality of springs and / or dampers (not shown in Figures 5a-5d) arranged between the first arm and the intermediate joint and / or between the second arm and the intermediate joint so as to transfer the weight of the articulated arm to the trunk support.

[0184] For example, the springs and / or dampers may be tension-compression and / or torsion and / or bending springs, for example helical springs, or a combination of these springs.

[0185] According to one or more embodiments, at least one of the first pivot link and / or the second pivot link and / or the third pivot link may comprise a tension / compression spring and / or a torsion spring.

[0186] By spring, we can understand an accumulator of elastic mechanical energy, which can use a solid or an elastic fluid.

[0187] By damper, we can understand a dissipator of mechanical energy, which can use friction between two solids and / or a loss of load in a fluid.

[0188] In one or more embodiments, the first pivot link 125a1 and / or the second pivot link 125a2 and / or the third pivot link 125b2 may be configured to provide elastic return in the sagittal plane of the assembly comprising the first arm 130a and the second arm 130b (not shown in FIGS. 5a to 5d).

[0189] Thus, one of the three pivot links 125a1, 125a2 or 125b2, or at least two or at least all three, equipped with such an elastic return can make it possible to promote the maintenance of all of the arms 130a and 130b in the sagittal plane, in particular when the configuration of the exoskeleton is close to configurations close to singular configurations that can be reached during the movement. Indeed, the evolution of a mechanism close to a singular configuration can lead to a reduction in its rigidity in one or more directions. The spring(s) placed in parallel with the pivot links 125a1, 125a2 and / or 125b2 can make it possible to counterbalance this undesirable phenomenon.

[0190] Furthermore, a plurality of dampers arranged with the springs in parallel with the pivot links 125a1 and / or 125a2 and / or 125b2 can make it possible to attenuate or eliminate the oscillating movements of the assembly of arms 130a and / or 130b on either side of the sagittal plane.

[0191] In one or more embodiments, the segment support 110b (also called a tie-back) and the articulated arm may be configured so that the connection to each other can allow a removable connection, i.e., one that can be mounted and dismounted quickly, for example in a few seconds, and without tools. For example, a push button may allow the segment support 110b to be unlocked and released from the articulated arm 130.

[0192] According to one example, the segment support 1 10b can cover approximately % of the perimeter of the lower limb by a semi-rigid shell having interface elements with the patient and can be completed by one or more flexible straps having on the one hand a rapid length adjustment device, for example using a non-return ratchet, and on the other hand a tightening device, for example by a toggle.

[0193] In one or more embodiments, a mechanical fuse may be included between the segment support and the articulated arm to protect the patient from excessive mechanical stress from the exoskeleton actuator. This mechanical fuse may, for example, take the form of a splined connection whose teeth are broken in the event of a torque exceeding a threshold value.

Claims

Claims

1. An actuated exoskeleton (100) for a lower limb (105) of an individual (P), the exoskeleton comprising: a trunk support (110a) configured to attach to at least a portion of the trunk of the individual and comprising a motorized actuator (210) secured to said trunk support comprising a drive axis configured to generate a rotary movement about an axis perpendicular to the sagittal plane of the individual, a lower limb segment support (105) configured to attach to the lower limb (105), an articulated arm (130) connected to the trunk support and to the lower limb segment support so as to form an articular connection between the trunk support and the lower limb segment support, the articulated arm being connected to the trunk support by a first end (120a) pivotally mounted with the trunk support,said first end being configured to be driven in rotation by said drive axis of the motorized actuator (210), and the articulated arm being connected to the lower limb segment support by a second end (120b) pivotally mounted with said lower limb segment support, and wherein the articulated arm comprises a first arm (130a) and a second arm (130b), in series articulated to each other by an intermediate articulation (130c) between the two arms, the first end (120a) provided at one end of the first arm and the second end (120b) provided at one end of the second arm, wherein, at least in one position of said articulated arm, the joint connection is configured to drive the lower limb in movement in a plane parallel to the sagittal plane by displacement of said second end in said parallel plane,said joint connection configured to transmit a torque generated at the first end by pivoting the drive axis of the motorized actuator into a torque at the second end driving the movement of the lower limb segment, and wherein the joint connection is further configured to comprise a plurality of passive degrees of freedom, so that the individual can perform, without being constrained by the exoskeleton, at least one movement: abduction and / or adduction of a body segment of the lower limb, in particular of one or more joints of the lower limb, in particular of the hip and / or flexion or extension of the knee and flexion or extension of the hip when the lower limb support is a leg support and / or rotation about the longitudinal axis of the lower limb, in particular internal and / or external rotation of one or more joints of the lower limb, in particular of the hip.,

2. The exoskeleton (100) of claim 1, wherein the articulated arm comprises two deformable parallelograms comprising a first deformable parallelogram forming the first arm (130a) and a second deformable parallelogram forming the second arm (130b), in series, - said first parallelogram having a first support (120a1), a second support (130c1) and two connecting rods connecting the first support (120a1) and the second support (130c1), the two connecting rods comprising a first connecting rod (130a1) and a second connecting rod (130a2); said first support (120a1) belonging to the first end (120a), the first support being integral in rotation with the drive shaft, the first support and the second support being connected by the first and second parallel connecting rods, - said second parallelogram having a third support (130c2), a fourth support (120b1), a third connecting rod (130b1) and a fourth connecting rod (130b2), the third support (130c2) rigidly secured to the second support (130c1) and forming with the second support a series connection, and the fourth support (120b1) belonging to the second end (120b) coupled to the lower limb support, and in which the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are articulated on the series connection according to four pivot connections parallel to each other forming the intermediate articulation between the two arms.

3. Exoskeleton according to any one of the preceding claims, in which the first end (120a) comprises at least one first pivot connection (125a1) perpendicular to the drive axis of the motorized actuator, said first pivot connection (125a1) being movable in rotation with the drive axis of the motorized actuator (210) so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb on itself in the standing position.

4. Exoskeleton according to one of the preceding claims, in which the first end further comprises a second pivot connection (125a2) perpendicular to the drive axis of the motorized actuator, said second pivot connection (125a2) being movable in rotation with the drive axis of the motorized actuator (210) and configured to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support in the standing position.

5. An exoskeleton according to claim 4 in combination with claim 3, wherein the first pivot link is perpendicular to the second pivot link.

6. Exoskeleton according to any one of claims 2 to 4, in which the second end (120b) comprises at least one third pivot link (125b2) perpendicular to at least one of the four mutually parallel pivot links (A1, A2, A3, A4) so ​​as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb along an axis parallel to the sagittal plane.

7. Exoskeleton according to claim 2, in which the first connecting rod (130a1) and the second connecting rod (130a2) are articulated to the first support by pivot links (A5, A6) parallel to the pivot links forming the articular articulation.

8. Exoskeleton according to claim 2, in which the first connecting rod (130a1) and the second connecting rod (130a2) are articulated to the first support by ball joints (A9, A10), said ball joints configured so as to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support.

9. Exoskeleton according to claim 7 or claim 8, wherein the third connecting rod (130b1) and the fourth connecting rod (130b2) are articulated to the second support (130c1) by pivot links (A7, A8) parallel to the pivot links forming the articular link.

10. Exoskeleton according to claim 7 or claim 8, in which the third connecting rod (130b1) and the fourth connecting rod (130b2) are articulated to the second support by ball joints (A1 1, A12).

11. An exoskeleton according to any preceding claim, wherein the exoskeleton has a single active link defined by the drive axis.

12. An exoskeleton according to any preceding claim, wherein the exoskeleton comprises a plurality of springs and / or dampers arranged between the first arm and the intermediate joint and / or between the second arm and the intermediate joint so as to transfer the weight of the articulated arm to the trunk support.

13. Exoskeleton according to the preceding claim, in which the springs and / or shock absorbers are helical springs or tension-compression and / or torsion and / or flexion springs or a combination of these springs.

14. An exoskeleton according to any one of claims 3 to 6, wherein at least one of the first pivot link and / or the second pivot link and / or the third pivot link comprises a tension / compression spring and / or a torsion spring.

15. An exoskeleton according to one of claims 1 to 14, wherein the lower limb segment support is a leg support.

16. An exoskeleton according to one of claims 1 to 14, wherein the lower limb segment support is a thigh support.

17. An actuated exoskeleton (100) for a lower limb (105) of an individual (P), the exoskeleton comprising: a trunk support (110a) configured to attach to at least a portion of the trunk of the individual and comprising a motorized actuator (210) secured to said trunk support comprising a drive axis configured to generate a rotary movement around an axis perpendicular to the sagittal plane of the individual, a lower limb segment (105) support (110b) configured to attach to the lower limb (105), an articulated arm (130) connected to the trunk support and to the lower limb segment support so as to form an articular connection between the hip support and the lower limb segment support, the articulated arm being connected to the trunk support by a first end (120a) pivotally mounted with the trunk support and comprising an input transmission shaft (510) secured to the drive axis of the motorized actuator (210), and the articulated arm being connected to the lower limb segment support by a second end (120b) pivotally mounted with said lower limb segment support and comprising an output transmission shaft (520) secured to said lower segment support (105), and wherein the articulated arm comprises a first arm (130a) and a second arm (130b),in series articulated to each other by an intermediate articulation (130c) between the two arms, the first end (120a) provided at one end of the first arm and the second end (120b) provided at one end of the second arm, said intermediate articulation (130c) comprising an intermediate transmission shaft (530), and in which: a first transmission (540a) integral with the first arm connects in rotation said input shaft to said intermediate transmission shaft, and a second transmission integral (540b) with the second arm connects in rotation said intermediate shaft and said output shaft in which, at least in one position of said articulated arm, the articular connection is configured to drive the lower limb in movement in a plane parallel to the sagittal plane by displacement of said second end in said parallel plane,said joint connection configured to transmit a torque generated at the first end by pivoting the drive axis of the motorized actuator into a torque at the second end driving the movement of the lower limb segment, and wherein the joint connection is further configured to comprise a plurality of passive degrees of freedom, so that the individual can perform, without being constrained by the exoskeleton, at least one movement: of abduction and / or adduction of a body segment of the lower limb, in particular of one or more joints of the lower limb, in particular of the hip and / or flexion or extension of the knee and flexion or extension of the hip when the lower limb support is a leg support and / or rotation about the longitudinal axis of the lower limb, in particular internal and / or external rotation of one or more joints of the lower limb, in particular of the hip.,

18. An exoskeleton according to claim 17, wherein: - the first transmission comprises a toothed belt or a chain connecting in rotation (540a2), a toothed pulley or pinion of the input shaft (540a1) and a toothed pulley or pinion of (560) the intermediate shaft, and - the second transmission comprises a toothed belt or a chain rotatably connecting (540b2), a toothed pulley or a pinion (580) of the intermediate shaft and a toothed pulley or a pinion of (540b1) the output shaft.

19. An exoskeleton according to claim 17, wherein the input shaft (510) comprises an input pinion (540a1) and the intermediate shaft comprises a driven pinion (560), connected to the input pinion by gearing to form the first transmission, and the intermediate shaft (530) comprises a drive pinion (580) connected to an output pinion (540b1) of the output shaft (520) by gearing to form the second transmission.

20. The exoskeleton of claim 19, wherein the gearing between the input gear (540a1) and the driven gear (560) comprises an intermediate gear (540a3) meshing simultaneously with the input gear and the driven gear, or a plurality of intermediate gears in series, comprising a first gear in the series meshing with the input gear and a last gear in the series meshing with the driven gear, and wherein the gearing between the drive gear (580) and the output gear (540b1) comprises an intermediate gear (540b3) meshing simultaneously with the drive gear and the output gear or a plurality of intermediate gears in series, comprising a first gear in the series meshing with the drive gear and a last gear in the series meshing with the output gear.

21. The exoskeleton of claim 19, wherein the input gear, the driven gear, the drive gear, and the output gear are bevel gears, and wherein: - the first transmission (540a) comprises a first shaft (545a), articulated to the first arm, extending along the length of the first arm, comprising at one end a receiving bevel gear (545a1) meshing with the input gear of the input transmission shaft and at another end a driving bevel gear (545a2) meshing with the receiving gear (560) of the intermediate transmission shaft, - the second transmission comprises a second shaft (545b), articulated to the second arm, extending along the length of the second arm, comprising at one end a receiving bevel gear (545b1) meshing with the drive gear (580) of the intermediate transmission shaft (530) and at another end a drive bevel gear meshing with the gear of the output transmission shaft.

22. Exoskeleton according to any one of the preceding claims 17 to 21, in which the first end (120a) comprises at least one first pivot connection (125a1) perpendicular to the drive axis of the motorized actuator, said first pivot connection (125a1) being movable in rotation with the drive axis of the motorized actuator (210) so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb on itself in the standing position.

23. Exoskeleton according to one of the preceding claims 17 to 22, in which the first end further comprises a second pivot connection (125a2) perpendicular to the drive axis of the motorized actuator, said second pivot connection (125a2) being movable in rotation with the drive axis of the motorized actuator (210) and configured so as to obtain a passive degree of freedom allowing at least one abduction or adduction movement of the lower limb by pivoting the articulated arm relative to the trunk support in the standing position.

24. The exoskeleton of claim 22 in combination with claim 23, wherein the first pivot link is perpendicular to the second pivot link.

25. Exoskeleton according to any one of claims 17 to 24, wherein the second end (120b) comprises at least one third pivot connection (125b2) perpendicular to the intermediate transmission shaft (530) so as to obtain a passive degree of freedom of the lower limb defined by a rotation of the lower limb along an axis parallel to the sagittal plane.

26. An exoskeleton according to any one of preceding claims 17 to 25, wherein the exoskeleton has a single active link defined by the drive axis.

27. ​​An exoskeleton according to one of the preceding claims 17 to 26, wherein the exoskeleton comprises a plurality of springs and / or dampers arranged between the first arm and the intermediate joint and / or between the second arm and the intermediate joint so as to transfer the weight of the articulated arm to the trunk support.

28. Exoskeleton according to the preceding claim, in which the springs and / or shock absorbers are helical springs or tension-compression and / or torsion and / or flexion springs or a combination of these springs.

29. An exoskeleton according to any one of claims 17 to 28, wherein at least one of the first pivot link and / or the second pivot link and / or the third pivot link comprises a tension / compression spring and / or a torsion spring.

30. An exoskeleton according to one of claims 17 to 29, wherein the lower limb segment support is a leg support.

31. An exoskeleton according to one of claims 17 to 29, wherein the lower limb segment support is a thigh support.

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