Lower limb exoskeleton

A lower limb exoskeleton comprising:

• a torso module including an adjustable abdominal binder and two lower limb assemblies connected to the torso module through a hip joint, each limb assembly comprising, connected in succession, an upper leg module, a knee joint, a lower leg module and a lower supporting foothold, intended to be supported on a floor for transferring vertical loads of the lower limb assembly, wherein the hip joint and the knee joint are articulated joints;
• each limb assembly further comprises a knee actuation mechanism configured to modify the angle of the knee joint when actuated;
• at least the upper leg module and the lower leg module including at least one body attachment configuration intended for attachment to an adjacent body part of a user;
• wherein the knee actuation mechanism comprises a pushrod with an intermediate region slidably connected to the lower leg module for a guided linear movement of the pushrod along a linear displacement path, the pushrod including a lower end protruding downwardly below the lower supporting foothold when the pushrod is not in the uppermost position of the linear displacement path, and including an upper end connected to the upper leg module via a kinematic linkage configured to push the upper leg module into an extended position, in which both upper and lower leg modules are approximately parallel or aligned, when the pushrod is moved upwards by resting the lower end thereof against a ground under user's body weight;
• wherein the kinematic linkage connecting the upper end of the pushrod with the upper leg module comprises a curved guide, attached to a lower end of the upper leg module adjacent to the knee joint, the curved guide being elongated from a first end to a second end defining a trajectory from the first end towards the second end, where successive points of the curved guide are increasingly distant from the knee joint, the upper end of the pushrod being slidably connected to the curved guide.