US 11,787,040 B2
Modular exoskeleton structure that provides force assistance to the user
Jordane Grenier, Boulogne-Billancourt (FR); Stephane Bedard, Québec (CA); Roland Thieffry, Boulogne-Billancourt (FR); Alexandre Vaure, Boulogne-Billancourt (FR); and Jonathan Baptista, Boulogne-Billancourt (FR)
Assigned to SAFRAN ELECTRONICS & DEFENSE, Boulogne-Billancourt (FR); and B-TEMIA INC., Québec (CA)
Filed by SAFRAN ELECTRONICS & DEFENSE, Boulogne-Billancourt (FR); and B-TEMIA INC., Québec (CA)
Filed on Oct. 15, 2020, as Appl. No. 17/71,598.
Application 17/071,598 is a continuation of application No. 16/065,604, abandoned, previously published as PCT/EP2016/082597, filed on Dec. 23, 2016.
Claims priority of application No. 1563348 (FR), filed on Dec. 24, 2015; and application No. 1563350 (FR), filed on Dec. 24, 2015.
Prior Publication US 2021/0069890 A1, Mar. 11, 2021
Int. Cl. A61H 3/00 (2006.01); B25J 9/08 (2006.01); B25J 19/00 (2006.01); B25J 9/00 (2006.01)
CPC B25J 9/0006 (2013.01) [A61H 3/00 (2013.01); B25J 9/08 (2013.01); A61H 2003/007 (2013.01); A61H 2201/0107 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1616 (2013.01); A61H 2201/1626 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/1642 (2013.01); B25J 19/005 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A modular exoskeleton structure for transfer of forces and loads applied to an upper body portion of a user, the modular exoskeleton structure comprising:
a base module comprising a lumbar belt capable of surrounding a waist of the user, a first battery and a control unit attached to the lumbar belt,
a back module configured to be attached to the base module and a back of the user, the back module comprising a second battery and a spinal column segment designed to extend along a spinal column of the user, the spinal column segment comprising a plurality of stacked vertebral elements exerting a return force tending to return the spinal column segment to a stable equilibrium position in response to an application of a force or load,
an upper module configured to be attached to the back module and upper extremities of the user, comprising:
a bilateral shoulders module configured to be located at shoulders of the user, comprising:
a pair of joints configured to be located at each of the shoulders of the user on a coronal plane;
a pair of joints configured to be located at each of the shoulders of the user on a sagittal plane;
a proximal segment configured to be located at a posterior part of the shoulders of the user, the proximal segment being configured to be operatively connected to the back module; and
a distal segment configured to be located at a lateral part of the shoulders of the user;
a pair of arm modules each comprising:
a proximal segment configured to be located at a forearm of the user;
a distal segment configured to be located at an arm of the user, the distal segment being operatively connected to the distal segment of the bilateral shoulders module; and
an elbow joint operatively connecting the proximal segment to the distal segment;
a lower module configured to be attached to the base module and to be located at lower extremities of the user, comprising:
a hip module including a pair of hip joints each operatively connected to a corresponding femoral portion configured to be located at a respective thigh of the user;
a pair of knee modules each including a knee joint operatively connecting a tibial portion configured to be located at a calf of the user and the proximal segment of the hip module; and
a pair of foot modules each including an ankle joint operatively connecting a foot segment configured to be located at a foot of the user and the distal segment of a corresponding knee module, and a ground contact element;
wherein in use the load applied to the upper body portion of a user is transferred to the lower body portion of the user and then to the ground via the connections between the upper module, the base module and the lower module.