Modular exoskeleton structure that provides force assistance to the user

Abstract

The invention relates to a modular exoskeleton structure that provides force assistance to a user comprising a base module ( 1 ), the base module ( 1 ) comprising a lumbar belt ( 11 ) capable of surrounding the waist of the user, a battery ( 12 ) and a control unit ( 13 ) attached to the lumber belt ( 11 ), a first attachment part attached to the belt ( 11 ) and capable of cooperating with a second complementary attachment part of a hip module ( 5 ) to attach the hip module ( 5 ) to the base module ( 1 ) by snapping the second attachment part into the first attachment part, and a third attachment part attached to the belt ( 11 ) and capable of cooperating with a complementary fourth attachment part of a back module for attaching the back module to the base module ( 1 ).

1 . A modular exoskeleton structure that provides force assistance to a user, comprising:
 a base module comprising a lumbar belt capable of surrounding the waist of the user, a first battery and a control unit attached to the lumbar belt,   a back module capable of being attached to the back of the user, the back module comprising a second battery,   a first attachment part attached to the belt and capable of cooperating with a second complementary attachment part of a hip module to attach the hip module to the base module by snapping the second attachment part into the first attachment part,   a third attachment part attached to the belt, and   a fourth complementary attachment part attached to the back module,   wherein the third attachment part is capable of cooperating with the complementary fourth attachment part for attaching the back module to the base module, the third attachment part and the fourth attachment part comprising a socket and a plug capable of being plugged into the socket to electrically connect the second battery to the control unit when the fourth attachment part cooperates with the third attachment part.   
     
     
         2 . The structure according to  claim 1 , also comprising at least one hip module capable of being attached to a thigh of the user, each hip module comprising a hip actuator, the hip actuator comprising a stator and a rotor capable of being driven in rotation with respect to the stator to drive in rotation the hip module with respect to the base module during a flexure or extension movement of the hip, the second attachment part being attached to the stator of the actuator. 
     
     
         3 . The structure according to  claim 2 , wherein the first attachment part and the second attachment part form a bayonet type attachment device in which one of either the first part or of the second part comprises a radial pin, and the other of the first part and the second part comprises a curved slot in which the radial pin can slide, the slot being curved in such a manner that the sliding of the pin in the slot from an entrance of the slot to an end of the slot requires a combined translation and rotation movement of the second part with respect to the first part, the translation being accomplished successively in a first direction, then in a second direction opposite to the first direction. 
     
     
         4 . The structure according to  claim 3 , wherein the attachment device also comprises an elastic return element capable of urging the second part in the second direction so as to hold the second part snapped into the first part. 
     
     
         5 . The structure according to  claim 4 , wherein when the elastic return element urges the second part in the second direction, the elastic return element tends to separate the second part from the first part. 
     
     
         6 . The structure according to  claim 2 , wherein the hip module comprises a femoral portion capable of being attached to the thigh of the user, the structure also comprising at least one knee module comprising a tibial portion capable of being attached to the calf of the user, and a knee joint capable of connecting the femoral portion to the tibial portion by allowing rotation of the tibial portion with respect to the femoral portion during a flexure and extension movement of the knee. 
     
     
         7 . The structure according to  claim 6 , wherein the knee module comprises a connecting bar capable of being inserted into a femoral segment of the femoral portion to attach the knee module to the hip module. 
     
     
         8 . The structure according to  claim 7 , wherein the connecting bar is capable of sliding inside the femoral segment of the hip module to allow adjustment of the distance between the knee joint and the hip joint. 
     
     
         9 . The structure according to one  6 , also comprising at least one foot module capable of being attached to the foot of the user, the foot module comprising a connecting bar capable of being inserted into a tibial segment of the tibial portion to attach the foot module to the knee module. 
     
     
         10 . The structure according to  claim 2 , wherein the first part and the second part each comprise electrical contacts capable of electrically connecting the first battery and the control unit to the actuator when the second part is snapped into the first part. 
     
     
         11 . The structure according to  claim 9 , comprising at least one elbow module capable of being attached to an arm of the user. 
     
     
         12 . The structure according to  claim 11 , also comprising a shoulder module capable of connecting the elbow module to the back module.