# US 10,442,078 B2 · Exoskeleton and method of using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,442,078 B2 - Document ID: US10442078B2 - Status: Granted - Kind: B2 - Application number: 15/349,602 - Filed: 2016-11-11 - Published: 2017-03-30 - Granted: 2019-10-15 - Earliest claimed: 2014-06-18 - Assignees: Mawashi Protective Clothing Inc - Applicants: Mawashi Protective Clothing Inc. - Inventors: Alain Bujold; Jean-Marc Sheitoyan; François Tremblay; Patrice Paquette; Aleksander Pohl; Simon Forget; Anis Ouanes; Alain Vary - Web page: https://patentgrep.com/patent/US10442078B2 ## CPC - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - A61F 5/0102: {specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations} - A61F 5/028: {Braces for providing support to the lower back, e.g. lumbo sacral supports} - A61F 2005/0155: {with actuating means} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) ## Abstract An exoskeleton designed to be worn by a user is generally configured to support and transfer the load supported by the head, the neck and/or the torso (shoulders, chest and/or back) of the user down to the ground. The exoskeleton is generally passive and includes at least three interconnected sections: torso, hip, and leg sections. Each of the sections generally includes of a plurality of interconnected rigid members which form the load-bearing structure of the exoskeleton. When a user wears the exoskeleton, load normally carried by the head, neck and/or torso of the user is at least partially supported and transferred to the ground by the exoskeleton, thereby reducing the load effectively supported by the user itself. The leg sections of the exoskeleton are designed to ensure that the load is entirely transferred to the inner side of the feet, in accordance with human biomechanics. ## Claims ### Claim 1 An exoskeleton configured to be worn by a user to support and transfer a load carried by the user across a ground surface; the exoskeleton comprising a torso section connected to a leg section via a hip section so as to transfer the load carried by the torso section down to the ground surface via the hip section and then the leg section; wherein the leg section comprises two symmetrical articulated leg assemblies, each leg assembly being adapted to be maintained on each user's leg and to follow the leg's movements when the exoskeleton is in use, each leg assembly having an upper end operatively connected to an outer side of the hip section and a bottom end adapted to be in contact with the ground surface, each leg assembly being configured to entirely transfer the load from the outer side of the hip section to an inner side of the user's leg before connecting to the ground, wherein each leg assembly comprises: an upper leg member extending downwardly from the hip section and having an end pivotally connected to the hip section to allow the upper leg member to move with respect to the hip section when the user moves; and a lower leg member extending downwardly from the upper leg member and pivotally connected to the upper leg member, the pivotal connection between the upper and lower leg members configured to be located at a knee level of the user to allow the lower leg member to follow the movements of the lower leg of the user with respect to the upper leg; the upper and lower leg members configured to extend downwardly and toward the inner side of the user's leg so as to entirely transfer the load from the outside of the leg toward the inside of the leg and down on the inner side of the foot of the user; and a hip joint assembly for operatively connecting the upper leg member to the hip section, the hip joint assembly being articulated for transferring the user's movement between the hip and leg sections, the hip joint assembly also comprising an adjusting system for adjusting a length of the leg assembly with a length of the user's leg. ### Claim 2 (depends on 1) The exoskeleton of claim 1, wherein the torso section of the exoskeleton comprises: a shoulder member configured to rest on the shoulders of the user; and a spine assembly extending downwardly from the shoulder member along the user's spine and comprising a plurality of spinal members wherein an uppermost spinal member is connected to, or integral with, the shoulder member, while a lowermost spinal member is connected to the hip section; the torso section supporting and transferring the load carried by the shoulders and torso of the user toward the ground via the hip section and then the leg sections. ### Claim 3 (depends on 2) The exoskeleton of claim 2, wherein the shoulder and spinal members are interconnected by resilient members to allow the spine assembly to compress or extend under load and to allow the spine assembly to relatively follow the movements of the user's torso. ### Claim 4 (depends on 3) The exoskeleton of claim 3, wherein the spinal members of the spine assembly are interconnected using telescopic internal springs, inter-vertebrae springs, and/or spherical contact load transfer. ### Claim 5 (depends on 2) The exoskeleton of claim 2, wherein the torso section also comprises at least one pair of left and right rib members which extend on each side of at least one intermediate spinal member all the way to the front of the torso of the user at the level of the user's lowest ribs, between the thorax and abdomen, for supporting and transferring the load carried by the thorax or abdomen toward the spinal assembly and then toward the ground via the hip and leg sections. ### Claim 6 (depends on 1) The exoskeleton of claim 1, wherein each leg assembly comprises: an upper leg member extending downwardly from the hip section and having an end pivotally connected to the hip section to allow the upper leg member to move with respect to the hip section when the user moves; and a lower leg member extending downwardly from the upper leg member and pivotally connected to the upper leg member, the pivotal connection between the upper and lower leg members configured to be located at a knee level of the user to allow the lower leg member to follow the movements of the lower leg of the user with respect to the upper leg; the upper and lower leg members configured to extend downwardly and toward the inner side of the user's leg so as to entirely transfer the load from the outside of the leg toward the inside of the leg and down on the inner side of the foot of the user. ### Claim 7 (depends on 6) The exoskeleton of claim 6, wherein: the upper leg member comprises an upper region configured to extend downwardly from the outer side of the hip section toward a front of the leg, and then extending downwardly from the upper region is a lower region configured to terminate near the knee level by two extremities as the lower region splits on each side of the leg; and the lower leg member comprises an upper region pivotally extending from the lower region of the upper leg member and a lower region configured to extend downwardly therefrom toward the inner side of the user's leg, the upper region of the lower member also splits in two extremities which are each pivotally connected to the two extremities of the lower region of the upper leg member defining as such a central opening to allow the knee of the user to extend through said opening when the user kneels or squats; the pivotal connection between the said extremities configured to be aligned with the knee of the user in order to allow the leg of the user to bend along the knee. ### Claim 8 (depends on 6) The exoskeleton of claim 6, wherein each leg assembly further comprises a hip joint assembly for operatively connecting the upper leg member to the hip section, the hip joint assembly being articulated for transferring the user's movement between the hip and leg sections, the hip joint assembly also comprising an adjusting system for adjusting a length of the leg assembly with a length of the user's leg, and wherein the hip joint assembly comprises: a belt connector to connect the hip joint assembly to the outer side of the hip section, a first hip joint member pivotally connected to the belt connector so as to form a first pivotal connection, a second hip joint member pivotally connected to the first hip joint member so as to form a second pivotal connection, and a third hip joint member pivotally connected to the second hip joint member so as to form a third pivotal connection; and wherein: the first pivotal connection between the belt connector and first hip joint member defines a first pivot axis which allows for lateral or left-right movements of the leg of the user, the second pivotal connection between the first hip joint member and second hip joint member defines a second pivot axis which allows for longitudinal or front-rear movements of the leg of the user, and the third pivotal connection between the third hip joint member and the second hip joint member defines a third pivot axis which allows for axial or rotational movements of the leg of the user; the three pivot axis being perpendicular to each other, thereby generally providing three degrees of freedom to the leg section providing as such movements of the leg of the user during use. ### Claim 9 (depends on 6) The exoskeleton of claim 6, wherein the lower leg member is terminated with a sole insert extending outwardly from the lower leg member and adapted to be received inside or outside a user's footwear. ### Claim 10 (depends on 1) The exoskeleton of claim 1, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections. ### Claim 11 (depends on 10) The exoskeleton of claim 10, wherein the neck section is connected to the torso section via a vest integrated with the torso section so as to allow the vest to secure the torso section to the torso of the user. ### Claim 12 (depends on 10) The exoskeleton of claim 10, wherein the neck section is adapted to be connected to a helmet worn by the user to protect his head and/or to support the load to be carried by the user. ### Claim 13 (depends on 1) The exoskeleton of claim 1, wherein: the upper leg member comprises an upper region configured to extend downwardly from the outer side of the hip section toward a front of the leg, and then extending downwardly from the upper region is a lower region configured to terminate near the knee level by two extremities as the lower region splits on each side of the leg; and the lower leg member comprises an upper region pivotally extending from the lower region of the upper leg member and a lower region configured to extend downwardly therefrom toward the inner side of the user's leg, the upper region of the lower member also splits in two extremities which are each pivotally connected to the two extremities of the lower region of the upper leg member defining as such a central opening to allow the knee of the user to extend through said opening when the user kneels or squats; the pivotal connection between the said extremities configured to be aligned with the knee of the user in order to allow the leg of the user to bend along the knee. ### Claim 14 (depends on 1) The exoskeleton of claim 1, wherein the hip joint assembly comprises: a belt connector to connect the hip joint assembly to the outer side of the hip section, a first hip joint member pivotally connected to the belt connector so as to form a first pivotal connection, a second hip joint member pivotally connected to the first hip joint member so as to form a second pivotal connection, and a third hip joint member pivotally connected to the second hip joint member so as to form a third pivotal connection; and wherein: the first pivotal connection between the belt connector and first hip joint member defines a first pivot axis which allows for lateral or left-right movements of the leg of the user, the second pivotal connection between the first hip joint member and second hip joint member defines a second pivot axis which allows for longitudinal or front-rear movements of the leg of the user, and the third pivotal connection between the third hip joint member and the second hip joint member defines a third pivot axis which allows for axial or rotational movements of the leg of the user; the three pivot axis being perpendicular to each other, thereby generally providing three degrees of freedom to the leg section providing as such movements of the leg of the user during use. ### Claim 15 (depends on 1) The exoskeleton of claim 1, wherein the lower leg member is terminated with a sole insert extending outwardly from the lower leg member and adapted to be received inside or outside a user's footwear. ### Claim 16 (depends on 1) The exoskeleton of claim 1, wherein the hip section comprises a lower back member connected to the torso section and left and right hip members extending from each side of the lower back member all the way to the front of the user, the left and right hip members having extremities provided with complementary fasteners so as to be attachable together to form a belt. ### Claim 17 (depends on 1) The exoskeleton of claim 1, wherein the exoskeleton further comprises one or more resilient pads affixed between the exoskeleton and the user for adding comfort when the user is wearing the exoskeleton. ### Claim 18 (depends on 1) The exoskeleton of claim 1, further comprising a vest adaptable to a size of the user's torso for securing the torso section to the user's torso. ### Claim 19 (depends on 1) The exoskeleton of claim 1, further comprising a plurality of fastening assemblies for fastening the exoskeleton to the user. ### Claim 20 (depends on 1) The exoskeleton of claim 1, wherein the exoskeleton is a passive exoskeleton. ### Claim 21 An exoskeleton configured to be worn by a user to support and transfer a load carried by the user across a ground surface; the exoskeleton comprising a torso section connected to a leg section via a hip section so as to transfer the load carried by the torso section down to the ground surface via the hip section and then the leg section; wherein the leg section comprises two symmetrical articulated leg assemblies, each leg assembly being adapted to be maintained on each user's leg and to follow the leg's movements when the exoskeleton is in use, each leg assembly having an upper end operatively connected to an outer side of the hip section and a bottom end adapted to be in contact with the ground surface, each leg assembly being configured to entirely transfer the load from the outer side of the hip section to an inner side of the user's leg before connecting to the ground, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections. ### Claim 22 (depends on 21) The exoskeleton of claim 21, wherein each leg assembly comprises: an upper leg member extending downwardly from the hip section and having an end pivotally connected to the hip section to allow the upper leg member to move with respect to the hip section when the user moves; and a lower leg member extending downwardly from the upper leg member and pivotally connected to the upper leg member, the pivotal connection between the upper and lower leg members configured to be located at a knee level of the user to allow the lower leg member to follow the movements of the lower leg of the user with respect to the upper leg; the upper and lower leg members configured to extend downwardly and toward the inner side of the user's leg so as to entirely transfer the load from the outside of the leg toward the inside of the leg and down on the inner side of the foot of the user. ### Claim 23 (depends on 22) The exoskeleton of claim 22, wherein: the upper leg member comprises an upper region configured to extend downwardly from the outer side of the hip section toward a front of the leg, and then extending downwardly from the upper region is a lower region configured to terminate near the knee level by two extremities as the lower region splits on each side of the leg; and the lower leg member comprises an upper region pivotally extending from the lower region of the upper leg member and a lower region configured to extend downwardly therefrom toward the inner side of the user's leg, the upper region of the lower member also splits in two extremities which are each pivotally connected to the two extremities of the lower region of the upper leg member defining as such a central opening to allow the knee of the user to extend through said opening when the user kneels or squats; the pivotal connection between the said extremities configured to be aligned with the knee of the user in order to allow the leg of the user to bend along the knee. ### Claim 24 (depends on 22) The exoskeleton of claim 22, wherein each leg assembly further comprises a hip joint assembly for operatively connecting the upper leg member to the hip section, the hip joint assembly being articulated for transferring the user's movement between the hip and leg sections, the hip joint assembly also comprising an adjusting system for adjusting a length of the leg assembly with a length of the user's leg, and wherein the hip joint assembly comprises: a belt connector to connect the hip joint assembly to the outer side of the hip section, a first hip joint member pivotally connected to the belt connector so as to form a first pivotal connection, a second hip joint member pivotally connected to the first hip joint member so as to form a second pivotal connection, and a third hip joint member pivotally connected to the second hip joint member so as to form a third pivotal connection; and wherein: the first pivotal connection between the belt connector and first hip joint member defines a first pivot axis which allows for lateral or left-right movements of the leg of the user, the second pivotal connection between the first hip joint member and second hip joint member defines a second pivot axis which allows for longitudinal or front-rear movements of the leg of the user, and the third pivotal connection between the third hip joint member and the second hip joint member defines a third pivot axis which allows for axial or rotational movements of the leg of the user; the three pivot axis being perpendicular to each other, thereby generally providing three degrees of freedom to the leg section providing as such movements of the leg of the user during use. ### Claim 25 (depends on 22) The exoskeleton of claim 22, wherein the lower leg member is terminated with a sole insert extending outwardly from the lower leg member and adapted to be received inside or outside a user's footwear. ### Claim 26 (depends on 21) The exoskeleton of claim 21, wherein the torso section of the exoskeleton comprises: a shoulder member configured to rest on the shoulders of the user; and a spine assembly extending downwardly from the shoulder member along the user's spine and comprising a plurality of spinal members wherein an uppermost spinal member is connected to, or integral with, the shoulder member, while a lowermost spinal member is connected to the hip section; the torso section supporting and transferring the load carried by the shoulders and torso of the user toward the ground via the hip section and then the leg sections. ### Claim 27 (depends on 26) The exoskeleton of claim 26, wherein the shoulder and spinal members are interconnected by resilient members to allow the spine assembly to compress or extend under load and to allow the spine assembly to relatively follow the movements of the user's torso. ### Claim 28 (depends on 27) The exoskeleton of claim 27, wherein the spinal members of the spine assembly are interconnected using telescopic internal springs, inter-vertebrae springs, and/or spherical contact load transfer. ### Claim 29 (depends on 26) The exoskeleton of claim 26, wherein the torso section also comprises at least one pair of left and right rib members which extend on each side of at least one intermediate spinal member all the way to the front of the torso of the user at the level of the user's lowest ribs, between the thorax and abdomen, for supporting and transferring the load carried by the thorax or abdomen toward the spinal assembly and then toward the ground via the hip and leg sections. ### Claim 30 (depends on 21) The exoskeleton of claim 21, wherein the neck section is connected to the torso section via a vest integrated with the torso section so as to allow the vest to secure the torso section to the torso of the user. ### Claim 31 (depends on 21) The exoskeleton of claim 21, wherein the neck section is adapted to be connected to a helmet worn by the user to protect his head and/or to support the load to be carried by the user. ### Claim 32 (depends on 21) The exoskeleton of claim 21, wherein the exoskeleton further comprises one or more resilient pads affixed between the exoskeleton and the user for adding comfort when the user is wearing the exoskeleton. ### Claim 33 (depends on 21) The exoskeleton of claim 21, further comprising a vest adaptable to a size of the user's torso for securing the torso section to the user's torso. ### Claim 34 (depends on 21) The exoskeleton of claim 21, further comprising a plurality of fastening assemblies for fastening the exoskeleton to the user. ### Claim 35 (depends on 21) The exoskeleton of claim 21, wherein the exoskeleton is a passive exoskeleton. ### Claim 36 (depends on 21) A method for supporting and transferring a load carried down to the ground, the method comprising the steps of: wearing an exoskeleton as claimed in claim 21; providing at least one load; and carrying the at least one load using the torso section of the exoskeleton for entirely transferring the at least one load from the outer side of the hip section to an inner side of the leg section before connecting the leg section to the ground. ### Claim 37 An exoskeleton configured to be worn by a user to support and transfer a load carried by the user across a ground surface; the exoskeleton comprising a torso section connected to a leg section via a hip section so as to transfer the load carried by the torso section down to the ground surface via the hip section and then the leg section; wherein the leg section comprises two symmetrical articulated leg assemblies, each leg assembly being adapted to be maintained on each user's leg and to follow the leg's movements when the exoskeleton is in use, each leg assembly having an upper end operatively connected to an outer side of the hip section and a bottom end adapted to be in contact with the ground surface, each leg assembly being configured to entirely transfer the load from the outer side of the hip section to an inner side of the user's leg before connecting to the ground, wherein the exoskeleton further comprises one or more resilient pads affixed between the exoskeleton and the user for adding comfort when the user is wearing the exoskeleton. ### Claim 38 (depends on 37) The exoskeleton of claim 37, wherein each leg assembly comprises: an upper leg member extending downwardly from the hip section and having an end pivotally connected to the hip section to allow the upper leg member to move with respect to the hip section when the user moves; and a lower leg member extending downwardly from the upper leg member and pivotally connected to the upper leg member, the pivotal connection between the upper and lower leg members configured to be located at a knee level of the user to allow the lower leg member to follow the movements of the lower leg of the user with respect to the upper leg; the upper and lower leg members configured to extend downwardly and toward the inner side of the user's leg so as to entirely transfer the load from the outside of the leg toward the inside of the leg and down on the inner side of the foot of the user. ### Claim 39 (depends on 38) The exoskeleton of claim 38, wherein: the upper leg member comprises an upper region configured to extend downwardly from the outer side of the hip section toward a front of the leg, and then extending downwardly from the upper region is a lower region configured to terminate near the knee level by two extremities as the lower region splits on each side of the leg; and the lower leg member comprises an upper region pivotally extending from the lower region of the upper leg member and a lower region configured to extend downwardly therefrom toward the inner side of the user's leg, the upper region of the lower member also splits in two extremities which are each pivotally connected to the two extremities of the lower region of the upper leg member defining as such a central opening to allow the knee of the user to extend through said opening when the user kneels or squats; the pivotal connection between the said extremities configured to be aligned with the knee of the user in order to allow the leg of the user to bend along the knee. ### Claim 40 (depends on 38) The exoskeleton of claim 38, wherein each leg assembly further comprises a hip joint assembly for operatively connecting the upper leg member to the hip section, the hip joint assembly being articulated for transferring the user's movement between the hip and leg sections, the hip joint assembly also comprising an adjusting system for adjusting a length of the leg assembly with a length of the user's leg, and wherein the hip joint assembly comprises: a belt connector to connect the hip joint assembly to the outer side of the hip section, a first hip joint member pivotally connected to the belt connector so as to form a first pivotal connection, a second hip joint member pivotally connected to the first hip joint member so as to form a second pivotal connection, and a third hip joint member pivotally connected to the second hip joint member so as to form a third pivotal connection; and wherein: the first pivotal connection between the belt connector and first hip joint member defines a first pivot axis which allows for lateral or left-right movements of the leg of the user, the second pivotal connection between the first hip joint member and second hip joint member defines a second pivot axis which allows for longitudinal or front-rear movements of the leg of the user, and the third pivotal connection between the third hip joint member and the second hip joint member defines a third pivot axis which allows for axial or rotational movements of the leg of the user; the three pivot axis being perpendicular to each other, thereby generally providing three degrees of freedom to the leg section providing as such movements of the leg of the user during use. ### Claim 41 (depends on 38) The exoskeleton of claim 38, wherein the lower leg member is terminated with a sole insert extending outwardly from the lower leg member and adapted to be received inside or outside a user's footwear. ### Claim 42 (depends on 37) The exoskeleton of claim 37, wherein the torso section of the exoskeleton comprises: a shoulder member configured to rest on the shoulders of the user; and a spine assembly extending downwardly from the shoulder member along the user's spine and comprising a plurality of spinal members wherein an uppermost spinal member is connected to, or integral with, the shoulder member, while a lowermost spinal member is connected to the hip section; the torso section supporting and transferring the load carried by the shoulders and torso of the user toward the ground via the hip section and then the leg sections. ### Claim 43 (depends on 42) The exoskeleton of claim 42, wherein the shoulder and spinal members are interconnected by resilient members to allow the spine assembly to compress or extend under load and to allow the spine assembly to relatively follow the movements of the user's torso. ### Claim 44 (depends on 43) The exoskeleton of claim 43, wherein the spinal members of the spine assembly are interconnected using telescopic internal springs, inter-vertebrae springs, and/or spherical contact load transfer. ### Claim 45 (depends on 42) The exoskeleton of claim 42, wherein the torso section also comprises at least one pair of left and right rib members which extend on each side of at least one intermediate spinal member all the way to the front of the torso of the user at the level of the user's lowest ribs, between the thorax and abdomen, for supporting and transferring the load carried by the thorax or abdomen toward the spinal assembly and then toward the ground via the hip and leg sections. ### Claim 46 (depends on 37) The exoskeleton of claim 37, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections, and wherein the neck section is connected to the torso section via a vest integrated with the torso section so as to allow the vest to secure the torso section to the torso of the user. ### Claim 47 (depends on 37) The exoskeleton of claim 37, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections, and wherein the neck section is adapted to be connected to a helmet worn by the user to protect his head and/or to support the load to be carried by the user. ### Claim 48 (depends on 37) The exoskeleton of claim 37, further comprising a vest adaptable to a size of the user's torso for securing the torso section to the user's torso. ### Claim 49 (depends on 37) The exoskeleton of claim 37, further comprising a plurality of fastening assemblies for fastening the exoskeleton to the user. ### Claim 50 (depends on 37) The exoskeleton of claim 37, wherein the exoskeleton is a passive exoskeleton. ### Claim 51 (depends on 37) A method for supporting and transferring a load carried down to the ground, the method comprising the steps of: wearing an exoskeleton as claimed in claim 37; providing at least one load; and carrying the at least one load using the torso section of the exoskeleton for entirely transferring the at least one load from the outer side of the hip section to an inner side of the leg section before connecting the leg section to the ground. ### Claim 52 An exoskeleton configured to be worn by a user to support and transfer a load carried by the user across a ground surface; the exoskeleton comprising a torso section connected to a leg section via a hip section so as to transfer the load carried by the torso section down to the ground surface via the hip section and then the leg section; wherein the leg section comprises two symmetrical articulated leg assemblies, each leg assembly being adapted to be maintained on each user's leg and to follow the leg's movements when the exoskeleton is in use, each leg assembly having an upper end operatively connected to an outer side of the hip section and a bottom end adapted to be in contact with the ground surface, each leg assembly being configured to entirely transfer the load from the outer side of the hip section to an inner side of the user's leg before connecting to the ground; and a vest adaptable to a size of the user's torso for securing the torso section to the user's torso. ### Claim 53 (depends on 52) The exoskeleton of claim 52, wherein each leg assembly comprises: an upper leg member extending downwardly from the hip section and having an end pivotally connected to the hip section to allow the upper leg member to move with respect to the hip section when the user moves; and a lower leg member extending downwardly from the upper leg member and pivotally connected to the upper leg member, the pivotal connection between the upper and lower leg members configured to be located at a knee level of the user to allow the lower leg member to follow the movements of the lower leg of the user with respect to the upper leg; the upper and lower leg members configured to extend downwardly and toward the inner side of the user's leg so as to entirely transfer the load from the outside of the leg toward the inside of the leg and down on the inner side of the foot of the user. ### Claim 54 (depends on 53) The exoskeleton of claim 53, wherein: the upper leg member comprises an upper region configured to extend downwardly from the outer side of the hip section toward a front of the leg, and then extending downwardly from the upper region is a lower region configured to terminate near the knee level by two extremities as the lower region splits on each side of the leg; and the lower leg member comprises an upper region pivotally extending from the lower region of the upper leg member and a lower region configured to extend downwardly therefrom toward the inner side of the user's leg, the upper region of the lower member also splits in two extremities which are each pivotally connected to the two extremities of the lower region of the upper leg member defining as such a central opening to allow the knee of the user to extend through said opening when the user kneels or squats; the pivotal connection between the said extremities configured to be aligned with the knee of the user in order to allow the leg of the user to bend along the knee. ### Claim 55 (depends on 53) The exoskeleton of claim 53, wherein each leg assembly further comprises a hip joint assembly for operatively connecting the upper leg member to the hip section, the hip joint assembly being articulated for transferring the user's movement between the hip and leg sections, the hip joint assembly also comprising an adjusting system for adjusting a length of the leg assembly with a length of the user's leg, and wherein the hip joint assembly comprises: a belt connector to connect the hip joint assembly to the outer side of the hip section, a first hip joint member pivotally connected to the belt connector so as to form a first pivotal connection, a second hip joint member pivotally connected to the first hip joint member so as to form a second pivotal connection, and a third hip joint member pivotally connected to the second hip joint member so as to form a third pivotal connection; and wherein: the first pivotal connection between the belt connector and first hip joint member defines a first pivot axis which allows for lateral or left-right movements of the leg of the user, the second pivotal connection between the first hip joint member and second hip joint member defines a second pivot axis which allows for longitudinal or front-rear movements of the leg of the user, and the third pivotal connection between the third hip joint member and the second hip joint member defines a third pivot axis which allows for axial or rotational movements of the leg of the user; the three pivot axis being perpendicular to each other, thereby generally providing three degrees of freedom to the leg section providing as such movements of the leg of the user during use. ### Claim 56 (depends on 53) The exoskeleton of claim 53, wherein the lower leg member is terminated with a sole insert extending outwardly from the lower leg member and adapted to be received inside or outside a user's footwear. ### Claim 57 (depends on 52) The exoskeleton of claim 52, wherein the torso section of the exoskeleton comprises: a shoulder member configured to rest on the shoulders of the user; and a spine assembly extending downwardly from the shoulder member along the user's spine and comprising a plurality of spinal members wherein an uppermost spinal member is connected to, or integral with, the shoulder member, while a lowermost spinal member is connected to the hip section; the torso section supporting and transferring the load carried by the shoulders and torso of the user toward the ground via the hip section and then the leg sections. ### Claim 58 (depends on 57) The exoskeleton of claim 57, wherein the shoulder and spinal members are interconnected by resilient members to allow the spine assembly to compress or extend under load and to allow the spine assembly to relatively follow the movements of the user's torso. ### Claim 59 (depends on 58) The exoskeleton of claim 58, wherein the spinal members of the spine assembly are interconnected using telescopic internal springs, inter-vertebrae springs, and/or spherical contact load transfer. ### Claim 60 (depends on 57) The exoskeleton of claim 57, wherein the torso section also comprises at least one pair of left and right rib members which extend on each side of at least one intermediate spinal member all the way to the front of the torso of the user at the level of the user's lowest ribs, between the thorax and abdomen, for supporting and transferring the load carried by the thorax or abdomen toward the spinal assembly and then toward the ground via the hip and leg sections. ### Claim 61 (depends on 52) The exoskeleton of claim 52, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections, wherein the neck section is connected to the torso section via a vest integrated with the torso section so as to allow the vest to secure the torso section to the torso of the user. ### Claim 62 (depends on 52) The exoskeleton of claim 52, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections, and wherein the neck section is adapted to be connected to a helmet worn by the user to protect his head and/or to support the load to be carried by the user. ### Claim 63 (depends on 52) The exoskeleton of claim 52, further comprising a plurality of fastening assemblies for fastening the exoskeleton to the user. ### Claim 64 (depends on 52) The exoskeleton of claim 52, wherein the exoskeleton is a passive exoskeleton. ### Claim 65 (depends on 52) A method for supporting and transferring a load carried down to the ground, the method comprising the steps of: wearing an exoskeleton as claimed in claim 52; providing at least one load; and carrying the at least one load using the torso section of the exoskeleton for entirely transferring the at least one load from the outer side of the hip section to an inner side of the leg section before connecting the leg section to the ground. ### Claim 66 An exoskeleton configured to be worn by a user to support and transfer a load carried by the user across a ground surface; the exoskeleton comprising a torso section connected to a leg section via a hip section so as to transfer the load carried by the torso section down to the ground surface via the hip section and then the leg section; wherein the leg section comprises two symmetrical articulated leg assemblies, each leg assembly being adapted to be maintained on each user's leg and to follow the leg's movements when the exoskeleton is in use, each leg assembly having an upper end operatively connected to an outer side of the hip section and a bottom end adapted to be in contact with the ground surface, each leg assembly being configured to entirely transfer the load from the outer side of the hip section to an inner side of the user's leg before connecting to the ground, wherein the hip section comprises a lower back member connected to the torso section and left and right hip members extending from each side of the lower back member all the way to the front of the user, the left and right hip members having extremities provided with complementary fasteners so as to be attachable together to form a belt. ### Claim 67 (depends on 66) The exoskeleton of claim 66, wherein the torso section of the exoskeleton comprises: a shoulder member configured to rest on the shoulders of the user; and a spine assembly extending downwardly from the shoulder member along the user's spine and comprising a plurality of spinal members wherein an uppermost spinal member is connected to, or integral with, the shoulder member, while a lowermost spinal member is connected to the hip section; the torso section supporting and transferring the load carried by the shoulders and torso of the user toward the ground via the hip section and then the leg sections. ### Claim 68 (depends on 67) The exoskeleton of claim 67, wherein the shoulder and spinal members are interconnected by resilient members to allow the spine assembly to compress or extend under load and to allow the spine assembly to relatively follow the movements of the user's torso. ### Claim 69 (depends on 68) The exoskeleton of claim 68, wherein the spinal members of the spine assembly are interconnected using telescopic internal springs, inter-vertebrae springs, and/or spherical contact load transfer. ### Claim 70 (depends on 67) The exoskeleton of claim 67, wherein the torso section also comprises at least one pair of left and right rib members which extend on each side of at least one intermediate spinal member all the way to the front of the torso of the user at the level of the user's lowest ribs, between the thorax and abdomen, for supporting and transferring the load carried by the thorax or abdomen toward the spinal assembly and then toward the ground via the hip and leg sections. ### Claim 71 (depends on 66) The exoskeleton of claim 66, wherein the exoskeleton further comprises a neck section configured to assist in supporting the load carried by the head of the user, the neck section being removably connected to the torso section so as to transfer the load from the head and neck of the user toward the torso section which will further transfer the load down to the ground via the hip and leg sections. ### Claim 72 (depends on 71) The exoskeleton of claim 71, wherein the neck section is connected to the torso section via a vest integrated with the torso section so as to allow the vest to secure the torso section to the torso of the user. ### Claim 73 (depends on 71) The exoskeleton of claim 71, wherein the neck section is adapted to be connected to a helmet worn by the user to protect his head and/or to support the load to be carried by the user. ### Claim 74 (depends on 66) The exoskeleton of claim 66, wherein the exoskeleton further comprises one or more resilient pads affixed between the exoskeleton and the user for adding comfort when the user is wearing the exoskeleton. ### Claim 75 (depends on 66) The exoskeleton of claim 66, further comprising a vest adaptable to a size of the user's torso for securing the torso section to the user's torso. ### Claim 76 (depends on 66) The exoskeleton of claim 66, further comprising a plurality of fastening assemblies for fastening the exoskeleton to the user. ### Claim 77 (depends on 66) The exoskeleton of claim 66, wherein the exoskeleton is a passive exoskeleton. ### Claim 78 (depends on 66) A method for supporting and transferring a load carried down to the ground, the method comprising the steps of: wearing an exoskeleton as claimed in claim 66; providing at least one load; and carrying the at least one load using the torso section of the exoskeleton for entirely transferring the at least one load from the outer side of the hip section to an inner side of the leg section before connecting the leg section to the ground. ### Claim 79 (depends on 1) A method for supporting and transferring a load carried down to the ground, the method comprising the steps of: wearing an exoskeleton as claimed in claim 1; providing at least one load; and carrying the at least one load using the torso section of the exoskeleton for entirely transferring the at least one load from the outer side of the hip section to an inner side of the leg section before connecting the leg section to the ground.