Powered exoskeleton joint

A powered exoskeleton joint comprising:

• an actuation unit;
• and
• at least one actuation arm mounted oscillatingly on said actuation unit, said actuation unit being configured to move said actuation arm oscillatingly around said joint,
• said actuation arm being coupled to the frame of an exoskeleton by means of a coupling system,
• wherein said coupling system comprises two parts, one of which is integral with the actuation arm and the other integral with the exoskeleton frame, which parts are configured to be at least partially inserted into each other, so as to identify a male part and a female part,
• the male part passes from an inserted condition to an extracted condition, and vice-versa, with respect to the female part, the female part having tapered surfaces complementary to the external surfaces of a male end of the male part, the male end including at least two guide slots, a first electrical connector on a first side of the external surfaces, and at least one locking housing provided on a second side of the external surfaces opposite the first side,
• said female part comprising a second electrical connector and at least one pin for locking the male part in the inserted condition, the at least one pin mounted translatable according to a direction incident to the insertion direction, which locking pin engages with a corresponding locking housing provided on the male part.