# US 10,864,133 B2 · Exoskeleton structure that provides force assistance to the user > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,133 B2 - Document ID: US10864133B2 - Status: Granted - Kind: B2 - Application number: 16/320,792 - Filed: 2017-07-28 - Published: 2019-11-07 - Granted: 2020-12-15 - Earliest claimed: 2016-07-28 - Assignees: Safran Electronics & Defense; B-Temia Inc. - Applicants: Safran Electronics & Defense; B-Temia Inc. - Inventors: Francisco Soucy; Katia Bilodeau; Nathaniel Zoso; Jonathan Baptista; Jordane Grenier - Web page: https://patentgrep.com/patent/US10864133B2 ## CPC - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses} - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 1/0244: {Hip (A61H1/0255 takes precedence)} - A61H 2201/1481: Special movement conversion means - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/165: Wearable interfaces - A61H 2201/1657: Movement of interface, i.e. force application means - A61H 2201/1671: rotational - A61H 2201/1676: Pivoting - A61H 2205/10: Leg - A61H 2205/12: Feet - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) ## Abstract An exoskeleton subassembly is provided. The exoskeleton subassembly includes first and second exoskeleton parts, and a connecting assembly that connects the first and second exoskeleton parts. The connecting assembly includes a guide, a pin, and a limiting device. The guide is fixedly mounted on one part, and a pin fixedly mounted on the other part and slidably mounted inside the guide. The limiting device allows rotation of the pin with respect to the guide when the pin is in a first position, and to oppose the rotation when the pin is in a second position. The limiting device includes an elastic element engaged with the first part when the pin is in the second position. The elastic element exerts on the first part an elastic return force opposing relative rotation between the first and second parts both in two opposite directions of rotation. ## Claims ### Claim 1 An exoskeleton subassembly comprising: a first exoskeleton part, a second exoskeleton part, a connecting assembly connecting the first exoskeleton part to the second exoskeleton part, the connecting assembly comprising a guide fixedly mounted with respect to one of the first exoskeleton part and the second exoskeleton part, and a pin fixedly mounted with respect to the other of the first exoskeleton part and the second exoskeleton part, the pin being slidably mounted inside the guide between a first end position and a second end position, wherein the connecting assembly further comprises a limiting device arranged to allow rotation of the pin with respect to the guide when the pin is in the first end position, and to oppose rotation of the pin with respect to the guide when the pin is in the second end position, the limiting device comprising an elastic element with which the first exoskeleton part engages when the pin is in the second end position, the elastic element exerting on the first exoskeleton part an elastic return force tending to oppose relative rotation between the first exoskeleton part and the second exoskeleton part both in a first direction of rotation and in a second direction of rotation, opposite to the first direction of rotation, wherein the first exoskeleton part has a protrusion, and the elastic element has a recess in which the protrusion is received when the pin is in the second end position. ### Claim 2 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the guide comprises an oblong orifice provided in the first exoskeleton part. ### Claim 3 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the pin has an axially symmetrical shape. ### Claim 4 (depends on 1) The subassembly according to claim 1, wherein the elastic element is disposed between the first exoskeleton part and the second exoskeleton part. ### Claim 5 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the elastic element is fixedly mounted with respect to the second exoskeleton part. ### Claim 6 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the elastic element is a block made of elastic material. ### Claim 7 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the protrusion has a shape complementary to a shape of the recess. ### Claim 8 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the protrusion has a general shape of a point and the recess has a general V shape. ### Claim 9 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the first exoskeleton part has a cutout, and the elastic element has a bulge capable of being received in the cutout when the pin is in the second end position. ### Claim 10 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the elastic element has one or more portions that are compressed between the first exoskeleton part and the second exoskeleton part when the pin is in the second end position and relative rotation between the first exoskeleton part and the second exoskeleton part occurs. ### Claim 11 (depends on 1) The exoskeleton subassembly according to claim 1, wherein the elastic element comprises a spring arranged to exert a return force on the other exoskeleton part, the return force exerted by the spring opposing the rotation of the pin with respect to the guide when the pin is in the second end position. ### Claim 12 (depends on 11) The exoskeleton subassembly according to claim 11, wherein the spring comprises one or more flexible blades, each blade having one end attached to one of the first exoskeleton part and the second exoskeleton part, the one or more flexible blades being disposed so that the rotation of the pin with respect to the guide causes the other one of the first exoskeleton part and the second exoskeleton part that is not attached to the blade to load the one or more flexible blades in flexure. ### Claim 13 (depends on 1) The exoskeleton subassembly according to claim 1, wherein one of the first exoskeleton part and of the second exoskeleton part is a part capable of being attached to a leg of a user and the other of the first exoskeleton part and of the second exoskeleton part is a part capable of being attached to a foot of the user, the connecting assembly allowing relative rotation between the second exoskeleton part and the first exoskeleton part caused by an eversion or inversion movement of the foot with respect to the leg or by a flexural or extension movement of the foot with respect to the leg. ### Claim 14 (depends on 1) An exoskeleton structure comprising the exoskeleton subassembly according to claim 1. ### Claim 15 (depends on 1) The exoskeleton subassembly according to claim 1 configured: to load the pin toward the second end position during a support phase of a walking of a user using the exoskeleton subassembly and to load the pin toward the first end position during an oscillation phase of the walking.