FR3145697A1 - Flexible and cooperating exoskeleton structure - Google Patents

Abstract

Exoskeleton member (1) comprising: a first support (10); a second support (20); a frame extending in a first direction (D1) between the first support (10) and the second support (20) to transmit a compressive and/or tensile force from the first support (10) to the second support (20); a restraining device (60) of the frame to apply to the frame a force substantially normal to the first direction (D1). Exoskeleton comprising such a member Figure for the abstract: Figure 1

Description

Flexible and cooperating exoskeleton structure

The invention relates to the field of exoskeletons, and more particularly to the field of structures which provide the interface with a user, human or animal.

STATE OF THE PRIOR ART

Typically, an exoskeleton comprises a plurality of segments that extend parallel to the exoskeleton user's limbs and are connected to them using, for example, straps.

These segments, which are articulated between them, are rigid in order to be able to control them using geared motors. Due to the difference in volume between the user's articulated limbs (for example the thigh and the leg) and their variation in volume induced by muscle contraction, the rigid segments of the exoskeleton are positioned at a non-zero distance from the user to avoid interference and friction.

Besides the weight and inertia of the rigid segments, such an exoskeleton has several other disadvantages.

The variable distance separating the segments of the user's limbs induces parasitic moments and forces which have an impact on the dimensioning of the actuators and the connections between segments and segments, as well as on the control law or the monitoring of the actuator torques.

Finally, installing such an exoskeleton on a user is long due to the use of discrete, individually adjustable connections. The exoskeleton, once installed, significantly increases the user's size, which can be inconvenient when moving around, particularly for use inside buildings.

This lack of ergonomics considerably slows the diffusion of exoskeletons, particularly for carrying out indoor tasks.

PROBLEM SOLVED BY THE INVENTION

The invention aims to improve the ergonomics and user experience of an exoskeleton as well as reduce its size and mass.

For this purpose, an exoskeleton member is provided comprising a first support, a second support. A frame extends in a first direction between the first support and the second support to transmit a compressive and/or tensile force as well as bending moments from the first support to the second support. The exoskeleton member also comprises a frame retention device to apply to the frame a force substantially normal to the first direction, a force which may be radial or tangential.

An exoskeleton member is obtained that is easy to install on a user thanks to the belts that provide a connection to the user. The stays coupled to the restraint device allow the absorption of longitudinal forces as well as the transmission of bending moments applied to the belts of the exoskeleton member. The envelope as well as the stays also allow an increase in the volume of the user's member on which the exoskeleton member is applied during muscular efforts by the user.

• l’armature est montée à rotation sur le premier support et/ou sur le deuxième support ;
• l’armature comprend au moins une baleine ;
• le membre comprend un dispositif de limitation d’un déplacement de l’armature et/ou du dispositif de contention selon une deuxième direction normale à la première direction ;le membre comprend une première enveloppe qui possède une première surface s’étendant entre le premier support et le deuxième support et faisant face à une première face externe de l’armature ;
• la première enveloppe comprend également une deuxième surface s’étendant entre la première ceinture et la deuxième ceinture et qui fait face à une deuxième face de l’armature opposée à la première ;
• la première enveloppe comprend au moins un fourreau d’accueil d’au moins une baleine ;
• le dispositif de contention comprend une deuxième enveloppe s’étendant au moins partiellement autour de l’armature ;
• l’armature est agencée pour autoriser une rotation de la première boucle relativement à la deuxième boucle autour d’un axe sensiblement parallèle à la première direction ;
• une gaine de guidage d’un élément de transmission d’un effort d’actionnement ;
• un renvoi d’un élément de transmission d’un effort d’actionnement ;
• un support supplémentaire et une armature supplémentaire s’étendent entre le deuxième support et le support supplémentaire pour transmettre un effort de compression et/ou de traction depuis le deuxième support vers le support supplémentaire ;
• l’armature est agencée pour autoriser une première rotation du premier support relativement au deuxième support autour d’un axe sensiblement parallèle à la première direction ;
• un élément de transmission d’un effort d’actionnement agencé pour provoquer sélectivement la première rotation.

According to other particular, non-exclusive and optional embodiments of the invention:

• the frame is rotatably mounted on the first support and/or on the second support;
• the frame includes at least one whale;
• the member comprises a device for limiting a movement of the frame and/or the retention device in a second direction normal to the first direction; the member comprises a first envelope which has a first surface extending between the first support and the second support and facing a first external face of the frame;
• the first envelope also comprises a second surface extending between the first belt and the second belt and which faces a second face of the frame opposite the first;
• the first envelope comprises at least one sheath for receiving at least one whale;
• the containment device comprises a second envelope extending at least partially around the frame;
• the frame is arranged to allow rotation of the first loop relative to the second loop around an axis substantially parallel to the first direction;
• a guide sheath for an element transmitting an actuating force;
• a return of an element transmitting an actuating force;
• an additional support and an additional reinforcement extend between the second support and the additional support to transmit a compressive and/or tensile force from the second support to the additional support;
• the frame is arranged to allow a first rotation of the first support relative to the second support around an axis substantially parallel to the first direction;
• an element for transmitting an actuating force arranged to selectively cause the first rotation.

The invention also relates to an exoskeleton comprising a limb as defined above.

Other characteristics and advantages of the invention will appear on reading the following description of a particular non-limiting embodiment of the invention.

Reference will be made to the attached figures, including:
There is a schematic perspective view of an exoskeleton member according to a first embodiment of the invention;
There is a schematic top view of the exoskeleton member of the ;
There is a schematic sectional view along a transverse III-III plane of the exoskeleton member of the ;
There is a schematic view of a first step in installing the exoskeleton member of the on a user;
There is a schematic view of a second step of installation of the exoskeleton member of the on a user;
There is a schematic sectional view along the transverse III-III plane of an exoskeleton member according to a second embodiment of the invention;
There is a schematic perspective view of an exoskeleton comprising an exoskeleton member according to a third embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a fourth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a fifth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a sixth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a seventh embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to an eighth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a ninth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a tenth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to an eleventh embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a twelfth embodiment of the invention;
There is a schematic perspective view of an exoskeleton member according to a thirteenth embodiment of the invention;
There is a schematic perspective view of the detail of the exoskeleton member of the .

DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS

In reference to the , the exoskeleton member according to the invention, and generally designated 1, comprises a first upper support 10, here a first steel support 10 in the form of a cradle which describes a portion of a circle with an angular amplitude substantially equal to sixty degrees, and which extends in a first plane P1.

Member 1 comprises a second lower support 20, here a second steel support 20 in the form of a cradle which describes a portion of a circle with an angular amplitude substantially equal to sixty degrees, and which extends in a second plane P2.

A frame 30 comprises four first ribs 31, 32, 33 and 34 which extend parallel to a first direction D1—here substantially parallel to the longitudinal axis Ox—between the support 10 and the support 20. The ribs 31, 32, 33 and 34 are here, cylindrical carbon tubes. The respective first upper ends 31.1 and 33.1 of the ribs 31 and 33 are embedded on the support 10 and the second lower ends 31.2 and 33.2 of the ribs 31 and 33 are rotatably mounted on the support 20. The respective first upper ends 32.1 and 34.1 of the ribs 32 and 34 are rotatably mounted on the support 10 and the second lower ends 32.2 and 34.2 of the ribs 32 and 34 are embedded on the support 20. The ribs 31, 32, 33 and 34 allow the transmission to the support 20 of a compressive or tensile force which would be applied to the support 10. The member 1 also comprises a first envelope 40 - shown in thick dotted lines for reasons of clarity - of which an upper edge 41 is sewn onto the support 10 and a lower edge 42 is sewn onto the support 20. The first envelope 40 has a first external surface 43 which extends between the first support 10 and the second support 20 and which faces a first external face 31.3, 32.3, 33.3, 34.3 of the ribs 31, 32, 33 and 34.

The casing 40 also has a second internal surface 44 which extends between the first support 10 and the second support 20 and which faces a second internal face 31.4, 32.4, 33.4, 34.4 of the ribs 31, 32, 33 and 34.

As visible in , the envelope 40 comprises first sheaths 51, 52, 53 and 54 which respectively accommodate the ribs 31, 32, 33 and 34. The sheaths 51, 52, 53 and 54 are here each defined by two longitudinal seams connecting the surface 43 to the surface 44 and which extend on either side of the ribs 31, 32, 33 and 34.

The member 1 also comprises a second textile envelope 60 (here a highly elastic lycra) which extends around the envelope 40 and the frame 30. The envelope 60 is shown in fine lines on the and the longitudinal edges 61 and 62 of the envelope 60 are respectively provided with an element 63 and 64 of a zipper 65. Thus the member 1 is in a substantially cylindrical shape with a longitudinal axis Ox substantially parallel to the direction D1. An internal face 66 of the envelope 60 faces the external faces 31.3, 32.3, 33.3, 34.3 of the ribs 31, 32, 33 and 34 and applies to the ribs 31, 32, 33, 34 a force F substantially normal to the direction D1. The envelope 40 therefore applies a radial force F to the ribs 31, 32, 33 and 34.

The casing 60 comprises a first cable 67 and a second cable 68 which extend in second sheaths not shown and which are attached to an external face 69 of the casing 60 by sewing. The first end 67.1 and the second end 67.2 of the cable 67 are respectively rigidly fixed to the longitudinal edges 61 and 62. The first end 68.1 and the second end 68.2 of the cable 68 are respectively rigidly fixed to the longitudinal edges 61 and 62.

Cables 67 and 68 form undulations in their respective sheaths and thus have a length greater than the circumferential length of the casing 60.

Member 1 therefore comprises a first assembly 2 composed of supports 10 and 20, frame 30 and envelope 40 and a second assembly 3 composed of envelope 60.

The installation of the member 1 on a user 100 will now be described in application to a thigh member of a lower member of an exoskeleton not shown and which is applied to the thigh 110 of a lower member 120 of the user 100. The closure 65 is open and the assembly 3 has a substantially flat and rectangular shape ( ). The assembly 2 is then placed on the thigh 110 of the user 100 so that the supports 10 and 20 respectively accommodate a high and low rear portion of the thigh 110. The assembly 3 is then positioned around the thigh 110, over the assembly 2, and the closure 65 is closed. In doing so, the envelope 60 applies the radial force F which opposes a bending of the whales 31, 32, 33 and 34.

The member 1 is effectively held on the thigh 110 by means of the supports 10 and 20 against which the envelope 60 presses the thigh 110. The internal surface 44 further improves the connection of the thigh 110 to the supports 10 and 20. The radial force F also presses the stays 31, 32, 33 and 34 on the thigh 110 and thus improves the transmission of force between the thigh 110 and the member 1.

The ribs 31, 32, 33 and 34 provide rigidity and resistance of the member 1 to longitudinal forces applied to the member 1 in a direction substantially parallel to the axis Ox as well as to bending moments. The envelope 40 as well as the ribs 31, 32, 33 and 34 can allow, by adapted flexibility, an increase in the volume of the thigh 110 during muscular efforts. When the efforts applied to the member 1 lead to a radial deformation of the ribs 31, 32, 33 and 34 which exceeds a predetermined deflection, the cables 67 and 68 come into tension and thus limit the movement of the envelope 60. and whales 31, 32, 33 and 34 in a second radial direction D2, normal to D1. These forces can come from a compressive load applied to the supports 10 and 20 or from a swelling of the thigh 110.

A second member 200 identical to the first member 1 is applied to the leg 130 of the lower member 120 according to a method identical to that described above. The second member 200 comprises a third support 210 and a fourth support 220 connected by stays 231, 232, 233 and 234, the whole being covered with a third envelope 240 to form a third element 202 of the second member 200. A fourth envelope 260 forms a fourth element 203 of the member 200. A rotary actuator 300 connects the support 20 and the support 210 so that the axis of rotation of the actuator 300 is aligned with the axis of rotation of the knee 140 of the user 100. A control of the actuator 300 makes it possible to relieve or control a flexion/extension movement of the lower member 120 ( ).

Exoskeleton members 1 and 201 are obtained which are compact, lightweight, easy and quick to install on the user 100.

In the context of use of the member 1 on a forearm of the user 100, the particular assembly of the ends 31.1, 31.2, 32.1, 32.23, 33.1, 33.2, 34.1 and 34.2 of the stays 31, 32, 33 and 34 allows rotation of the first support 10 relative to the second support 20 around an axis substantially parallel to the first direction D1. This freedom in rotation makes it possible not to hinder the pronation-supination of the forearm of the user 100 and further improves the comfort of use of the member 1.

Elements identical or analogous to those previously described will bear a numerical reference identical to this one in the following description of the second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth and thirteenth embodiments of the invention.

According to a second embodiment shown in section in , the support 10 has an angular amplitude of three hundred and sixty degrees to define a first belt. The support 10 is provided with a first quick-release clip 11 to form a first loop 12. Similarly, the support 20 has an angular amplitude of three hundred and sixty degrees to define a second belt. The support 20 is provided with a second quick-release clip 21 to form a second loop 22.

According to a third embodiment shown in member 1 comprises a first tubular sheath 70 for guiding a third cable 80. Sheath 70 is connected to whale 34 by two first legs 71 and 72.

The member 200 comprises a second tubular sheath 75 for guiding the cable 80. The sheath 75 is connected to the whale 234 by two first legs 76 and 77.

The member 200 also comprises a first pulley 85 for returning the cable 80 fixed to the support 210 by a yoke 86. The cable 80 thus guided can usefully actuate an articulation of a segment of the exoskeleton foot.

According to a fourth embodiment shown in , the member 1 comprises a third additional support 89, here a steel support 89 in the form of a cradle and which describes a portion of a circle with an angular amplitude substantially equal to sixty degrees. The member 1 according to this fourth embodiment also comprises an additional frame 90 extending between the support 20 and the support 89.

The frame 90 comprises four second ribs 91, 92, 93 and 94 which extend parallel to a third direction D3 - here merged with the first direction D1 - between the support 20 and the support 89. The ribs 91, 92, 93 and 94 are here, cylindrical carbon tubes identical to the tubes of the ribs 31, 32, 33 and 34. The first upper ends 91.1, 92.1, 93.1 and 94.1 respectively of the ribs 91, 92, 93 and 94 are rotatably mounted on the support 20 and the second lower ends 91.2, 92.2, 93.2 and 94.2 of the ribs 91, 92, 93 and 94 are rotatably mounted on the support 89. The ribs 91, 92, 93 and 94 allow the transmission to the support 89 of a compression or traction force which would be applied to the support 20 and/or the support 10 (and transmitted by the whales 31, 32, 33 and 34 from the support 10 to the support 20.

The envelope 40 - shown in thick dotted lines for clarity - extends between the support 10 and the support 89 and around the additional support 89 and the additional frame 90.

The envelope 60 - not shown - extends between the support 10 and the support 89 to extend around the supports 10, 20 and 89 as well as around the frames 30 and 90. The envelope 60 applies a radial force on the ribs 91, 92, 93 and 94 which may be identical to the force applied to the ribs 31, 32, 33 and 34 or different.

According to a fifth embodiment shown in , the member 1 comprises a fourth cable 35 which extends in a sheath 36 between the external face 43 of the casing 40 and the internal face 66 of the casing 60, not shown. The fourth cable 35 connects a right end 13 of the support 10, on which the cable 35 is crimped, and a left end 24 of the support 20 on which the cable 35 is slidably guided. A fifth cable 37 extends between the external face 43 of the casing 40 and the internal face 66 of the casing 60 to connect the left end 14 of the support 10, on which the cable 37 is crimped, and a right end 23 of the support 20 on which the cable 37 is slidably guided. The cable 37 comes to bear on the sheath 36 at a crossing point 38 and on the ribs 31, 32, 33 and 34. The sheath 36 also comes to bear on the ribs 31, 32, 33 and 34.

A pull on one or other of the cables 35 or 37 causes a first rotation of the support 10 relative to the support 20 around the axis Ox.

According to a sixth embodiment shown in , the member 1 comprises the additional support 89, and the crossing point 38 is located substantially directly above the support 20. The member 1 comprises a first support pulley 39.1 and a second support pulley 39.2, both connected to the support 20. The pulley 39.1 guides the cable 35 and the pulley 39.2 guides the cable 37, making it possible to avoid friction between the cables 35 and 37.

According to a seventh embodiment shown in , a lower segment 400 of the exoskeleton comprises a member 1 intended to be applied to the thigh 110 of the user 100, a member 200 intended to be applied to the leg 130 of the user 100, and a foot segment 500, substantially in the shape of a shoe intended to accommodate the foot 150 of the user 100.

As visible in , the members 1 and 200 are, here, applied to a front portion of the thigh 100 and the leg 130. The members 1 and 200 are disjointed, in the sense that there is no device for guiding the movement of one of the members 1 and 200 relative to the other. The foot segment 500 is, for its part, articulated on the lower support 220 of the member 200 around an axis O500.

The actuating cable 80 is guided along the thigh 110 by a second return pulley 81 secured to the upper support 10 of the limb 1 and a third return pulley 82 secured to the lower support 20 of the limb 1. The cable 80 is then guided by the pulley 85 to a first actuating point 501 of the limb 500 to which the distal end 80.1 of the cable 80 is crimped and on which the application of a tensile force causes a rotation of the foot segment 500 relative to the limb 200. The force thus applied causes an extension of the foot segment 500 relative to the limb 200. The flexion movement of the foot segment 500 is done against a return force applied by a first spring 502 which extends between the support 220 and the limb 500.

The distal end 80.2 is connected to an actuating device 600, several variants of which are shown in FIGS. 12, 13, 14, 15 and 16.

According to an eighth embodiment shown in , the actuation device 600 is unidirectional with a cable 80 and comprises a fourth return pulley 83 on which the cable 80 makes a dead turn before extending in a direction, substantially vertical when the user of the exoskeleton is standing, towards a fifth return pulley 84. The cable 80 makes a half-turn on the pulley 84 and the proximal end 80.2 is connected to a second traction spring 601 secured to a frame of the exoskeleton. The spring 601 exerts a passive assistance force which relieves the user 100 when extending his foot 150 and makes it possible to maintain a certain tension in the cable if the actuator does not operate or if the foot segment 500 comes to a stop in one direction or another.

According to a ninth embodiment shown in , the actuating device 600 is unidirectional with a cable 80 and comprises a fourth return pulley 83 on which the cable 80 makes a dead turn before extending in a direction, substantially vertical when the user of the exoskeleton is standing, towards a cable jack 602 with a driven nut, known per se, and secured to a chassis of the exoskeleton. The proximal end 80.2 is connected to a first 603 output of the cable jack 602. The cable jack 602 exerts an active assistance effort which relieves the user 100 when extending his foot 150.

According to a tenth embodiment shown in , the actuating device 600 is identical to that of the ninth embodiment and it comprises a roller cable tensioner 604. The tensioner 604 makes it possible, in the event of sudden movement by the user 100, to maintain a minimum tension in the cable 80 and thus to ensure that it remains well engaged with the guide pulleys 81, 82 and 85.

According to an eleventh embodiment shown in , the actuating device 600 is bidirectional with two cables 80 and 87. The cable 80 is shown in solid lines and the cable 87 is shown in broken lines.

The proximal end 80.2 of the cable 80 is connected to the first output 603 of the cable actuator 602 and the distal end 80.1 of the cable 80 is connected to the actuation point 501 to actuate a flexion of the segment 500. The proximal end 87.2 of the cable 87 is connected to the second output 605 of the cable actuator 602 and the distal end 87.1 of the cable 87 is connected to a second actuation point 503 to actuate an extension of the segment 500. As can be seen, both cables 80 and 87 both run along the front of the exoskeleton member when worn by a user 100. The actuation device 600 comprises a roller cable tensioner 606 which acts on the cable 87 in the same manner as the roller tensioner 604 on the cable 80.

According to a twelfth embodiment shown in , the actuating device 600 is bidirectional with two cables 80 and 87. The cable 80 is shown in solid lines and the cable 87 is shown in broken lines.

The proximal end 80.2 of the cable 80 is connected to the first output 603 of the cable actuator 602 and the distal end 80.1 of the cable 80 is connected to the actuation point 501 to actuate a flexion of the segment 500. The cable 80 extends over the front of the exoskeleton member when worn by a user 100. The proximal end 87.2 of the cable 87 is connected to the second output 605 of the cable actuator 602 and the distal end 87.1 of the cable 87 is connected to a second actuation point 502 to actuate an extension of the segment 500. The cable 87 runs over the rear of the exoskeleton member when worn by a user 100.

According to a thirteenth embodiment shown in figures 17 and 18, the actuation device 600 is unidirectional with two cables 80 and 88, and takes up the structure of the seventh embodiment of the invention. The respective proximal ends 80.1 and 88.1 of the cables 80 and 88 are connected to a spreader bar 610. The respective distal ends 80.2 and 88.2 of the cables 80 and 88 are respectively connected to the first actuation point 501 and to a second actuation point 503 located on either side of an ankle 160 of the foot 150 of the user 100. The support 10 comprises a sixth return pulley 95 located near the return pulley 81, on the left end 24 of the support 20, to guide the cable 88 parallel to the cable 80 to a seventh return pulley 96 located near the return pulley 82. The lower support 20 of the limb 1 has a plurality of eighth return pulleys 97.1 to 97.4 which guide the cable 88 substantially parallel to the support 20 from the left end 24 of the support 20 to the right end 23 of the support 20. A ninth return pulley 98 secured to the support 20 redirects the cable 88, in a direction substantially parallel to the corresponding strand of the cable 80, towards a tenth return pulley 99 secured to the support 220 and which deflects the cable 88 to the actuation point 503. Similarly, the support 220 comprises an eleventh return pulley 79 which redirects the cable 80 to the actuation point 501.

Of course, the invention is not limited to the embodiments described but encompasses any variant falling within the scope of the invention as defined by the claims.

• bien qu’ici les ceintures comprennent des attaches rapide à clips, l’invention s’applique également à d’autres types de dispositif de bouclage comme par exemple une boucle de ceinture à ardillon, une bande auto-agrippante ou un œillet coopérant un crochet ;
• -bien qu’ici les armatures aient été représentées rapportées sur une face externe des supports, l’invention s’applique également à des armatures rapportées sur une face interne des supports ou dont les extrémités sont enchâssées dans une épaisseur du support ;
• bien qu’ici l’armature comprenne quatre baleines, l’invention s’applique également à d’autres types d’armature comme par exemple une armature comprenant une, deux, trois ou plus de quatre baleines, une nappe, une coque ou un treillis éventuellement en forme de manchon ;
• bien qu’ici les baleines soient des tubes cylindriques droits en carbone, l’invention s’applique également à d’autres types de baleines comme par exemple des baleines pleines, de section diverses telle que carrée, ou rectangulaire et pouvant être réalisées dans d’autres matériaux tel que le polyacétal ou l’acier, par exemple sous la forme de baleine connues sou le nom de « corde à piano ». Les baleines peuvent également être conformées pour adopter des formes courbes ;
• bien qu’ici le membre comprenne une deuxième enveloppe en lycra, l’invention s’applique également à d’autres types de dispositifs de contention de l’armature pour appliquer sur l’armature un effort sensiblement normal à la première direction comme par exemple un ou plusieurs filins ou bandes élastiques et/ou précontraints qui s’étendrait en périphérie de l’armature ;
• bien qu’ici les baleines possèdent des extrémités articulées sur les supports, l’invention s’applique également à d’autres types de liaisons et/ou d’armatures autorisant une rotation du premier support relativement au deuxième support autour d’un axe sensiblement parallèle à la première direction, comme par exemple des baleines flexibles en torsion ou pourvue de deux parties montées à pivotement l’une relativement à l’autre autour d’un axe parallèle à la première direction ;
• bien qu’ici l’exosquelette comprenne un câble, l’invention s’applique également à d’autres types d’éléments de transmission d’un effort de traction comme par exemple une chaîne, une courroie crantée ou lisse ou un ruban, un organe hybride comprenant des bielles reliées par câble ;
• bien qu’ici le câble soit renvoyé à l’aide d’une poulie, l’invention s’applique également à d’autres types de renvois de câble comme par exemple un œillet, un axe pourvu d’un revêtement antifriction ou un tambour ;
• bien qu’ici les baleines soient reçues dans des fourreaux rapportés par couture sur la deuxième enveloppe, l’invention s’applique également à d’autres types de fourreaux comme par exemple un ou plusieurs anneaux rapportés sur l’une ou l’autre des enveloppes par collage ;
• bien qu’ici les supports décrivent des portions de cercle d’amplitude sensiblement égale à soixante degrés, l’invention s’applique également à d’autres types de support comme par exemple des supports de forme quelconque, non continus, qui couvrent des secteurs angulaires différents comme par exemple un support en forme de ceinture qui forme un boucle fermée ou un support ouvert dont l’amplitude est comprise entre quinze et trois-cent soixante degrés ;
• bien qu’ici les deuxièmes baleines soient identiques aux premières baleines, l’invention s’applique également à des deuxièmes baleines qui disposeraient de propriétés différentes des premières baleines, comme par exemple une raideur, une résistance à la torsion, une longueur, une section, un module d’Young différent de celui des premières baleines ;
• bien qu’ici une même deuxième enveloppe s’étende autour du premier, deuxième support et du troisième support supplémentaire, l’invention s’applique également à d’autres configurations des moyens de contention comme par exemple une deuxième enveloppe qui entoure les premier et deuxième support et une enveloppe supplémentaire qui entoure le deuxième support et le troisième support supplémentaire ;
• bien qu’ici le dispositif d’actionnement comprenne un vérin à câble à vis menée, l’invention s’applique également à d’autres types de dispositifs d’actionnement comme par exemple un dispositif d’actionnement comprenant un vérin à câble de type à écrou mené ou un motoréducteur, ou un actionneur linéaire de type vérin.

Especially,

• although here the belts comprise quick-release clips, the invention also applies to other types of fastening device such as for example a belt buckle with a pin, a self-gripping strip or an eyelet cooperating with a hook;
• - although here the reinforcements have been shown attached to an external face of the supports, the invention also applies to reinforcements attached to an internal face of the supports or whose ends are embedded in a thickness of the support;
• although here the frame comprises four ribs, the invention also applies to other types of frame such as for example a frame comprising one, two, three or more than four ribs, a sheet, a shell or a lattice possibly in the form of a sleeve;
• although here the ribs are straight cylindrical carbon tubes, the invention also applies to other types of ribs such as for example solid ribs, of various sections such as square, or rectangular and which can be made of other materials such as polyacetal or steel, for example in the form of ribs known as "piano wire". The ribs can also be shaped to adopt curved shapes;
• although here the member comprises a second lycra envelope, the invention also applies to other types of frame retention devices for applying to the frame a force substantially normal to the first direction, such as for example one or more elastic and/or pre-stressed cables or bands which would extend around the periphery of the frame;
• although here the whales have ends articulated on the supports, the invention also applies to other types of connections and/or frames allowing rotation of the first support relative to the second support around an axis substantially parallel to the first direction, such as for example whales flexible in torsion or provided with two parts mounted to pivot relative to each other around an axis parallel to the first direction;
• although here the exoskeleton comprises a cable, the invention also applies to other types of elements for transmitting a traction force such as for example a chain, a toothed or smooth belt or a ribbon, a hybrid member comprising connecting rods connected by cable;
• although here the cable is returned using a pulley, the invention also applies to other types of cable returns such as for example an eyelet, an axle provided with an anti-friction coating or a drum;
• although here the whales are received in sheaths added by sewing to the second envelope, the invention also applies to other types of sheaths such as for example one or more rings added to one or other of the envelopes by gluing;
• although here the supports describe portions of a circle with an amplitude substantially equal to sixty degrees, the invention also applies to other types of support such as, for example, supports of any shape, non-continuous, which cover different angular sectors such as, for example, a belt-shaped support which forms a closed loop or an open support whose amplitude is between fifteen and three hundred and sixty degrees;
• although here the second ribs are identical to the first ribs, the invention also applies to second ribs which would have properties different from the first ribs, such as for example a stiffness, a resistance to torsion, a length, a section, a Young's modulus different from that of the first ribs;
• although here a same second envelope extends around the first, second support and the third additional support, the invention also applies to other configurations of the containment means such as for example a second envelope which surrounds the first and second support and an additional envelope which surrounds the second support and the third additional support;
• although here the actuating device comprises a driven screw cable jack, the invention also applies to other types of actuating devices such as for example an actuating device comprising a driven nut type cable jack or a geared motor, or a cylinder type linear actuator.

Claims (14)

Exoskeleton member (1, 200) comprising:

• a first support (10, 210);
• a second support (20, 220);
• a frame (30) extending in a first direction (D1) between the first support (10, 210) and the second support (20, 220) to transmit a compressive and/or tensile force from the first support (10, 210) to the second support (20, 220);
• a device (60) for restraining the frame (30) in order to apply to the frame (30) a force substantially normal to the first direction (D1).

Exoskeleton member (1, 200) according to claim 1, wherein the frame (30) is rotatably mounted on the first support (10, 610) and/or on the second support (20, 620). Exoskeleton member (1, 200) according to claim 1 or 2, wherein the frame (30, 90) comprises at least one whale (31, 32, 33, 34, 91, 92, 93, 94). Exoskeleton member (1, 200) according to any one of the preceding claims, comprising a device (67, 68) for limiting a movement of the frame (30, 90) and/or the containment device (60) in a second direction (D2) normal to the first direction (D1). An exoskeleton member (1, 200) according to any preceding claim, comprising a first shell (40) which has a first surface extending between the first support (10) and the second support (20) and facing a first external face (31.3, 32.3, 33.3, 34.3) of the frame (30). An exoskeleton member (1, 200) according to claim 5, wherein the first envelope also comprises a second surface (50) extending between the first belt (10, 610) and the second belt (20, 620) and which faces a second face (31.4, 32.4, 33.4, 34.4) of the frame (30) opposite the first face (31.3, 32.3, 33.3, 34.3). Exoskeleton member (1, 200) according to claim 6, in which the first envelope (40) comprises at least one sheath (51, 52, 53, 54) for receiving the at least one whale (31, 32, 33, 34, 91, 92, 93, 94). Exoskeleton member (1, 500, 600), wherein the containment device (60) comprises a second envelope (60) extending at least partially around the frame (30, 90). Exoskeleton member (1, 200) according to any one of the preceding claims, comprising a sheath (60, 65) for guiding an element for transmitting an actuating force (80). Exoskeleton member (1) according to any one of the preceding claims, comprising a return (85) of an element for transmitting an actuating force (80). An exoskeleton member (1, 200) according to any preceding claim, comprising an additional support (89) and an additional frame (90) extending between the second support (20, 220) and the additional support (89) for transmitting a compressive and/or tensile force from the second support (20, 220) to the additional support (89). Exoskeleton member (1, 200) according to any one of the preceding claims, in which the frame (30) is arranged to allow a first rotation of the first support (10, 210) relative to the second support (20, 220) around an axis substantially parallel to the first direction (D1). Exoskeleton member (1) according to claim 12, comprising an element for transmitting an actuating force (35, 37) arranged to selectively cause the first rotation. Exoskeleton comprising a limb (1, 200) according to any one of the preceding claims.