The present invention relates to an orthosis (1) comprising a mechanical hip connection (4) comprising a frontal pivot link (10), a sagittal pivot link (20) and a transverse pivot link (30) made up of a plurality of pivot links (31-37) connected in pairs by connecting rods (38-45) so as to form a virtual pivot link (30) such that the transverse pivot axis (X3) intersects the volume delimited by the sagittal plane (P1), by a plane (P4) normal to the frontal pivot axis (X2) and comprising the sagittal pivot axis (X1), by the hip structure (2) and by the leg structure (3).
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
2.
Methods for Training a Neural Network and for Using Said Neural Network to Stabilize a Bipedal Robot
A method for training a neural network for stabilizing a bipedal robot (1) presenting a plurality of degrees of freedom actuated by actuators is proposed. The method comprises the implementation by the data processing means (11) of a server (10) of steps of:
(a) In a simulation, applying a sequence of pushes on a virtual twin of the robot (1).
(b) Performing a reinforcement learning algorithm on said neural network, wherein the neural network provides commands to said actuators of the virtual twin of the robot (1), so as to maximise a reward representative of a recovery of said virtual twin of the robot (1) from each push.
The invention relates to a method for moving a bipedal exoskeleton (1) accommodating a human operator, the method being characterised in that it involves the implementation, by data processing means (11) of the exoskeleton (1), of the following steps: (a) obtaining at least one postural instruction to be applied by the exoskeleton (1) in order for the operator to perform an exercise movement; (b) determining a trajectory of the exoskeleton (1) by means of hierarchised inverse kinematics based on the at least one determined postural instruction, said hierarchised inverse kinematics comprising a stack of hierarchised tasks comprising, as the task of highest priority, a task of keeping the feet of the exoskeleton (1) on the ground as the operator performs the exercise movement.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
4.
METHOD FOR STABILIZED MOVEMENT OF A BIPEDAL EXOSKELETON
Method for movement of an exoskeleton (1) receiving a human operator (2), for executing a step during which a first leg (30) of the exoskeleton (1) passes from a first control point to a second control point, and during which a second leg (31) of the exoskeleton (1) remains on the ground, the method comprising, at each iteration of a plurality of iterations implemented during the step, the following method steps: - estimation of a speed of the first leg (30); - determination of a trajectory of the centre of mass of the exoskeleton (1) guaranteeing the equilibrium of the exoskeleton (1), and of a speed-of-movement setpoint closest to the estimated speed; - based on the setpoint, determination of a first command to be applied to the first leg (30); and - based on the trajectory, determination of a second command to be applied to the second leg (31).
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
The present invention relates to a method for moving a bipedal exoskeleton (1) accommodating a human operator, the method comprising the implementation, by data processing means (11c) of the exoskeleton (1), of steps of: (a) obtaining a theoretical elementary trajectory of the exoskeleton (1); (b) executing a control loop defining the change in an actual position of the exoskeleton (1) so as to implement an actual elementary trajectory close to said theoretical elementary trajectory, comprising, in each iteration of the loop: —estimating a current state of the exoskeleton (1) as a function of said actual position; —determining a force torsor to be applied to the exoskeleton (1) in the next iteration of the loop to compensate for a deviation between said estimated current state of the exoskeleton (1) and an expected state of the exoskeleton (1) according to said theoretical elementary trajectory; the determination of the force torsor and/or the application thereof to the exoskeleton (1) taking into account a model of the flexibility of the exoskeleton (1) with respect to a rigid robot.
The present invention relates to a method for moving a two-legged exoskeleton (1) receiving a human operator, the method comprising the implementation, by data processing means (11c) of the exoskeleton (1), of steps of: (a) obtaining a theoretical basic trajectory of the exoskeleton (1) corresponding to one step; (b) setting the parameters of the theoretical basic trajectory based on a single parameter so as to define the theoretical basic trajectory of the exoskeleton (1) as a virtual guide with a single degree of freedom; (c) in response to forced movements of the exoskeleton (1) made by the human operator, operating a controller defining the progression from an actual position of the exoskeleton (1) based on said single parameter by stimulating a spring-damper link between the exoskeleton (1) and the virtual guide so as to implement an actual basic trajectory close to the theoretical basic trajectory.
The present invention relates to an orthosis (1) comprising a mechanical hip connection (4) comprising a frontal pivot link (10), a sagittal pivot link (20) and a transverse pivot link (30) made up of a plurality of pivot links (31-37) connected in pairs by connecting rods (38-45) so as to form a virtual pivot link (30) such that the transverse pivot axis (X3) intersects the volume delimited by the sagittal plane (P1), by a plane (P4) normal to the frontal pivot axis (X2) and comprising the sagittal pivot axis (X1), by the hip structure (2) and by the leg structure (3).
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
8.
METHODS FOR TRAINING A NEURAL NETWORK AND FOR USING SAID NEURAL NETWORK TO STABILIZE A BIPEDAL ROBOT
The present invention relates to a method for training a neural network for stabilizing a bipedal robot (1) presenting a plurality of degrees of freedom actuated by actuators, the method being characterised in that it comprises the implementation by the data processing means (11) of a server (10) of steps of: (a) In a simulation, applying a sequence of pushes on a virtual twin of the robot (1). (b) Performing a reinforcement learning algorithm on said neural network, wherein the neural network provides commands to said actuators of the virtual twin of the robot (1), so as to maximise a reward representative of a recovery of said virtual twin of the robot (1) from each push.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
G06N 3/00 - Computing arrangements based on biological models
G06N 3/008 - Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
The invention relates to a method for moving a bipedal exoskeleton (1) accommodating a human operator, the method being characterised in that it involves the implementation, by data processing means (11) of the exoskeleton (1), of the following steps: (a) obtaining at least one postural instruction to be applied by the exoskeleton (1) in order for the operator to perform an exercise movement; (b) determining a trajectory of the exoskeleton (1) by means of hierarchised inverse kinematics based on the at least one determined postural instruction, said hierarchised inverse kinematics comprising a stack of hierarchised tasks comprising, as the task of highest priority, a task of keeping the feet of the exoskeleton (1) on the ground as the operator performs the exercise movement.
The present invention relates to a method for generating a trajectory of an exoskeleton (1) provided with two legs each having a foot, the method comprising the implementation by data-processing means (11a) of a server (10a), of steps of:
(a) obtaining at least one n-tuple of gait parameters defining a given gait of the exoskeleton (1);
(b) generating at least one periodic elementary trajectory of the exoskeleton (1) for said n-tuple of gait parameters, such that said periodic elementary trajectory comprises in sequence a first trajectory portion and a second trajectory portion, such that in the first trajectory portion each foot performs a pure rotation, and in the second portion only one foot performs a translation.
The present invention relates to a method for learning parameters of a neural network for generating trajectories of an exoskeleton (1), the method comprising the implementation, by data processing means (11a) of a first server (10a), of steps of:
(a) Learning parameters of a first neural network suitable for generating periodic elementary trajectories of the exoskeleton (1) each for a given walking of the exoskeleton (1) defined by a n-tuple of walking parameters, according to a first database for learning periodic trajectories for a set of possible walkings of the exoskeleton (1);
(b) Learning, using parameters from the first neural network, parameters of a second neural network suitable for generating periodic elementary trajectories of the exoskeleton (1) and transitions from one periodic elementary trajectory of the exoskeleton (1) to another periodic elementary trajectory of the exoskeleton (1), according to a second learning database of periodic elementary trajectories and transitions for a set of possible walkings of the exoskeleton (1).
The present invention relates to a method for moving a bipedal exoskeleton (1) accommodating a human operator, the method comprising the implementation, by data processing means (11c) of the exoskeleton (1), of steps of: (a) obtaining a theoretical elementary trajectory of the exoskeleton (1); (b) executing a control loop defining the change in an actual position of the exoskeleton (1) so as to implement an actual elementary trajectory close to said theoretical elementary trajectory, comprising, in each iteration of the loop: - estimating a current state of the exoskeleton (1) as a function of said actual position; - determining a force torsor to be applied to the exoskeleton (1) in the next iteration of the loop to compensate for a deviation between said estimated current state of the exoskeleton (1) and an expected state of the exoskeleton (1) according to said theoretical elementary trajectory; the determination of the force torsor and/or the application thereof to the exoskeleton (1) taking into account a model of the flexibility of the exoskeleton (1) with respect to a rigid robot.
The present invention relates to a method for moving a two-legged exoskeleton (1) receiving a human operator, the method comprising the implementation, by data processing means (11c) of the exoskeleton (1), of steps of: (a) obtaining a theoretical basic trajectory of the exoskeleton (1) corresponding to one step; (b) setting the parameters of the theoretical basic trajectory based on a single parameter so as to define the theoretical basic trajectory of the exoskeleton (1) as a virtual guide with a single degree of freedom; (c) in response to forced movements of the exoskeleton (1) made by the human operator, operating a controller defining the progression from an actual position of the exoskeleton (1) based on said single parameter by stimulating a spring-damper link between the exoskeleton (1) and the virtual guide so as to implement an actual basic trajectory close to the theoretical basic trajectory.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
The present invention relates to a method for generating a trajectory of an exoskeleton (1) provided with two legs each having a foot, the method comprising the implementation, by data-processing means (11a) of a server (10a), of steps of: (a) obtaining at least one n-tuple of gait parameters defining a given gait of the exoskeleton (1); (b) generating at least one periodic elementary trajectory of the exoskeleton (1) for said n-tuple of gait parameters, such that said periodic elementary trajectory comprises in sequence a first trajectory portion and a second trajectory portion, such that in the first trajectory portion each foot performs a pure rotation, and in the second portion only one foot performs a translation.
The present invention relates to a method for learning parameters of a neural network for generating trajectories of an exoskeleton (1), the method comprising the implementation, by data processing means (11a) of a first server (10a), of steps of: (a) learning parameters of a first neural network suitable for generating periodic elementary trajectories of the exoskeleton (1), each for a given step of the exoskeleton (1) defined by n-tuple step parameters, according to a first database for learning periodic trajectories for a set of possible steps of the exoskeleton (1); (b) learning, using parameters from the first neural network, parameters of a second neural network suitable for generating periodic elementary trajectories of the exoskeleton (1) and transitions from one periodic elementary trajectory of the exoskeleton (1) to another periodic elementary trajectory of the exoskeleton (1), according to a second learning database of periodic elementary trajectories and transitions for a set of possible steps of the exoskeleton (1).
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A method for moving an exoskeleton from a seated position to a standing position (and vice versa) in which none of the degrees of freedom of the exoskeleton is non-actuated. The method includes the implementation by a data processor of steps of: (a) generating a trajectory of the exoskeleton from the seated position to the standing position (and vice versa), the trajectory being parameterised as a function of time; (b) applying to the trajectory a set of virtual constraints on the actuated degrees of freedom, the virtual constraints being parameterised by a phase variable; and (c) running a controller of the exoskeleton associated with the set of virtual constraints such that the exoskeleton moves from the seated position to the standing position (and vice versa), the controller being capable of generating commands for the actuators so as to comply with the virtual constraints during the trajectory.
The present invention relates to a hinge for a robotic device between a first part (1) of the robotic device and a second part (2) of the robotic device, comprising at least one actuating assembly comprising an actuator (3a, 3b) arranged on the first part (1) and a connecting rod (4a, 4b) connecting the actuator (3a, 3b) to the second part (2) such that the actuator (3a, 3b) controls an articulation direction via the movement of the connecting rod (4a, 4b), the first part (1) having a shell (11) protecting said actuator (3a, 3b) and provided with at least one orifice (12a, 12b) in which the connecting rod (4a, 4b) slides when it is moved between a first end position and a second end position along the connecting rod (4a, 4b) in the articulation direction, characterized in that the connecting rod (4a, 4b) is shaped between the first and second end positions such that, for any articulation direction, a distance between the connecting rod (4a, 4b) and an edge of the orifice (12a, 12b) is less than a predetermined threshold. The present invention also relates, among other things, to a method for modeling at least one portion of a connecting rod (4a, 4b) for an articulation of a robotic device between a first part (1) of the robotic device and a second part (2) of the robotic device.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
The present invention relates to a method for moving an exoskeleton (1) accommodating a human operator, from a seated position to a standing position (and vice versa), the seated and standing positions being such that the exoskeleton (1) has in these seated and standing positions a plurality of degrees of freedom, each actuated by an actuator controlled by data processing means (11) in such a way that no degree of freedom is non-actuated, the method being characterised in that the following steps are implemented by the data processing means (11): (a) generating a trajectory of the exoskeleton (1) from the seated position to the standing position (and vice versa), with time-dependent parameters; (b) applying to the trajectory a set of virtual constraints of the actuated degrees of freedom, the virtual constraints being parameterised with a phase variable; (c) running a controller of the exoskeleton (1) associated with the set of virtual constraints such that the exoskeleton (1) moves from the seated position to the standing position (and vice versa), the controller being capable of generating commands for the actuators so as to comply with the virtual constraints during the trajectory.
The present invention concerns a method for moving an exoskeleton (1) receiving a human operator, said exoskeleton (1) having a plurality of degrees of freedom, including at least one actuated degree of freedom and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of the following steps: (a) When a start request is received, generation and transmission of a command to at least one of said actuators so as to place the exoskeleton (1) in a swing state; (b) in a database stored in means for storing triplet data (12) of: - a set of virtual constraints on said actuated degrees of freedom, - a controller of said exoskeleton (1) capable of generating commands of said actuators so as to observe said virtual constraints, implementing at least one stable attractive trajectory, - a stability basin formed by all the points from which the execution of said controller allows convergence to said stable attractive trajectory; identification of a set of virtual constraints such that said swing state is within said stability basin associated with this set of virtual constraints; and (c) execution of the controller associated with the identified set of virtual constraints such that the exoskeleton (1) walks.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Orthopedic articles; special furniture for medical use,
surgical instruments, orthopedic footwear; Exoskeleton
(mobility aid for medical use). Apparatus for locomotion by land, air or water; Mobility-aid
vehicle. Evaluations and assessments in the fields of science and
technology provided by engineers; scientific and technical
research; research and development of new products for
others; technical project studies; programming for
computers; electronic data storage; Development of
exoskeletons; supply (provision for medical research or
monitoring purposes) and analysis of data regarding the use
of exoskeletons.
24.
Exoskeleton including a mechanical ankle link having two pivot axes
The invention relates to an exoskeleton including: a foot structure; a lower leg structure; a mechanical knee link having a pivot axis; and a mechanical ankle link connecting the foot structure to the lower leg structure and including a first pivot connection having a first pivot axis that is substantially parallel to the pivot axis of the mechanical knee link, and a second pivot connection having a second pivot axis that is perpendicular to the first pivot axis and forms an angle of between 30° and 60° with the support plane when the exoskeleton is upright and at rest.
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Orthopedic articles, namely, exoskeleton systems consisting of robotic wearable lower limb orthoses for medical use to aid the mobility of the disabled, mobility assisting devices in the nature of exoskeleton suits, walking robots, braces for limbs and wearable robots for humans for medical use for use in assisting human locomotion; furniture especially made for medical purposes, surgical instruments, orthopedic footwear; medical, rehabilitative, therapeutic and physical therapy devices related to mobility, namely, exoskeleton suits, braces for limbs Apparatus for locomotion by land, air or water, namely robotic transport vehicles, Mobility aid vehicle namely robotic transport vehicles
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Scientific, nautical, surveying, photographic,
cinematographic, optical, weighing, measuring, signaling,
checking (supervision), emergency (life-saving) and teaching
apparatus and instruments. Surgical, medical, dental and veterinary apparatus and
instruments, artificial limbs, eyes and teeth; orthopedic
articles; armchairs for medical or dental use. Apparatus for locomotion by land, air or water; electric
vehicles.
Robotic exoskeletal systems for humans for medical use
consisting of ortheses and supporting devices to be worn as
movement assistance systems, artificial limbs; medical,
therapeutic, rehabilitation and physical therapy devices in
connection with mobility or lesions in humans, walking
rehabilitation devices; exoskeletal systems for human
beings (prostheses).
Robotic exoskeletal systems for humans for medical use to be
worn as displacement assistance systems; artificial limbs;
medical, therapeutic, rehabilitation and physical therapy
devices in connection with mobility or lesions in humans,
walking rehabilitation devices.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Scientific apparatus and instruments, namely, mobile robots, walking robots, robotic exoskeletons, motion assisting devices and robotic orthotics in the nature of robotic exoskeleton suits worn by humans for the purpose of enhancing the strength and endurance of the person wearing the suit Orthopeadic articles, namely, exoskeleton systems consisting of robotic suits for medical use to aid the mobility of the disabled, mobility assisting devices in the nature of exoskeleton suits, walking robots, braces for limbs and wearable robots for humans for medical use for use in assisting human locomotion; medical, rehabilitative, therapeutic and physical therapy devices related to human injury or mobility, namely, exoskeleton suits, walking robots, braces for limbs; therapeutic, rehabilitative and physical therapy devices related to mobility or lesions in humans, namely, exoskeleton suits, walking robots, braces for limbs; walking rehabilitation devices, namely, fixed or mobile walking robots, canes, crutches, walkers; electronic stimulation apparatus for muscles for physical therapy purposes; orthopaedic braces, orthotics and prosthetics for limbs, knees, ankle or feet; artificial limbs; gait trainers Apparatus for locomotion by land, namely, robotic transport vehicles; electric vehicles, namely, robotic transport vehicles
Robotic exoskeletal systems for humans for medical use consisting of orthoses in the nature of robotic suits worn by humans for the purpose of enhancing the strength and endurance of the person wearing the suit and supporting devices in the nature of exoskeleton suits, walking robots, braces for limbs to be worn as movement assistance systems; artificial limbs; medical devices to assist with mobility in humans, namely, crutches, walkers to aid in mobility, canes, walk assist robots, orthotics for feet; therapeutic devices for aiding in mobility in humans, namely, aids to physical therapy in the nature of shoulder stretcher using resistance cables, leg stretcher using resistance cables, manually-operated resistance bands, training bars, weightlifting machines, electrical nerve and muscle stimulators, ultrasonic stimulators, magnet therapy stimulators and laser therapy stimulators for use in physical therapy, verticalization devices in the nature of exoskeleton suits, braces for limbs, invalid lifts, exercise machines for therapeutic purposes, electronic stimulation apparatus for muscles for physical therapy purposes, robotic or mechanical devices to emulate gait, namely, exoskeleton suits, walking robots, braces for limbs, orthopedic apparatus; rehabilitation devices in connection with mobility or lesions in humans, namely, body rehabilitation apparatus for medical purposes, robotic or mechanical walking aids in the nature of exoskeleton suits, walking robots, braces for limbs to be worn as walking assistance systems, robotic or mechanical gait trainers in the nature of exoskeleton suits, walking robots, braces for limbs, a force and motion sensing apparatus for the rehabilitation of hands and wrists, legs, knees, feet, hips and backs for home or clinical use
31.
EXOSKELETON INCLUDING CONNECTED SHELLS WITH PASSIVE DEGREES OF MOBILITY
The invention relates to an exoskeleton (1) including: a right leg structure and a left leg structure (2, 3), connection means (5) configured to connect the right leg and the left leg of the user to the associated leg structure of the exoskeleton, each connection means including: a shell (20) extending in the rear portion of the exoskeleton and configured to contact a rear area of the associated leg of the user, and a mechanical link (10) configured to attach the shell (20) to the associated leg structure (2, 3), the mechanical link (10) extending in the rear portion of the exoskeleton at a spacing from the front plane (F), wherein the exoskeleton also includes an attachment arm (17) that extends between the leg structure (2, 3) and the mechanical link (10) and is configured to position the mechanical link (10) at a spacing from the leg structure (2, 3), said attachment arm (17) being mounted securely on the leg structure (2, 3).
The invention relates to an exoskeleton including: a foot structure; a lower leg structure; a mechanical knee link having a pivot axis; and a mechanical ankle link connecting the foot structure to the lower leg structure and including a first pivot connection having a first pivot axis that is substantially parallel to the pivot axis of the mechanical knee link, and a second pivot connection having a second pivot axis that is perpendicular to the first pivot axis and forms an angle of between 30º and 60º with the support plane when the exoskeleton is upright and at rest.
The invention relates to an exoskeleton in which a pelvis structure (301) comprises a central pelvis segment (401) arranged such as to be attached to the pelvis (110) of a person wearing the exoskeleton. A peripheral pelvis segment (402) is connected to a leg structure (302). Another peripheral pelvis segment (403) is connected to another leg structure (303). A pelvis pivot link (404) connects the first peripheral pelvis segment (402) to the central pelvis segment. Another pelvis pivot link (405) connects the other peripheral pelvis segment (403) to the central pelvis segment. Said pelvis pivot links have a horizontal pivoting axis when the exoskeleton is in the inoperative position. At least one of the pelvis pivot links includes a locking device (408, 409). This locking device can be switched between an unlocked state and a locked state. In the unlocked state, the pelvis pivot link provided with the locking device allows the peripheral pelvis segment in question to pivot relative to the central pelvis segment. In the locked state, the pelvis pivot link prevents the peripheral pelvis segment in question from pivoting relative to the central pelvis segment.
The invention relates to an exoskeleton in which a foot structure (308) includes a supporting plane (310) on which the foot of a person wearing the exoskeleton can rest when the foot is flat. The supporting plane comprises a front platform (903) and a rear platform (904). A foot pivot link (905) connects the front platform to the rear platform.
