DISPOSITIF ET METHODE DE REDUCTION DE LA CONSOMMATION D'OXYGENE D'UNE PERSONNE PENDANT UNE MARCHE REGULIERE AU MOYEN D'UN EXOSQUELETTE PORTEUR DE CHARGE
A lower extremity exoskeleton (100) includes: at least onepower unit (201)； two leg supports (101, 102) designed to rest on theground (130)； two knee joints (107, 108) configured to allow flexion andextension between respective shank (105, 106) and thigh links (103, 104)of the leg supports (101, 102)； an exoskeleton trunk (109) rotatablycon-nectable to the leg supports (101, 102)； and two hip actuators (145, 146)configured to create torques between the exoskeleton trunk (109) and theleg supports (101, 102). In use, the hip actuators (145, 146) create atorque to move the leg supports (101, 102) backward relative to theexoskeleton trunk (109) during a stance phase, which pushes theexoskeleton trunk (109) forward. A second torque may be used to move the legsupports (101, 102) forward relative to the exoskeleton trunk (109) into aswing phase. Additionally, a swing torque may be generated during theswing phase to move the leg support (101, 102) forward relative to theexoskeleton trunk (109). This results in decreased oxygen consumption andheart rate of a user wearing the exoskeleton (100).
