FR3092029A1 - Exoskeleton posture harness - Google Patents

Abstract

[Posture and exoskeleton harness incorporating this harness The present invention relates to a posture harness (1) of an exoskeleton comprising an upper part (2) configured to be held on the shoulders of an operator, the upper part (2) being connected to at least one back structure (3) which extends along a longitudinal axis (XX) of a sagittal plane (A), the back structure (3) being elastically deformable and / or mobile at least along its longitudinal axis ( XX), the back structure (3) is connected respectively to two leg attachments (5), through an elastically deformable leg structure (4), the leg structure (4) being movable between an engaged position and a disengaged position, in the disengaged position the elastic nature of the leg structure (4) is disabled. The invention also relates to an exoskeleton incorporating the posture harness (1).

Description

Posture harness of an exoskeleton

[The present invention falls within the field of assistance to human effort, and in particular within the framework of handling assistance for both one-off and repetitive tasks.

With this in mind, exoskeletons have been developed to improve the working conditions of a service operator. Exoskeletons find an application in a multitude of fields of activity such as industry, mechanical maintenance (automotive, aeronautics, railway, naval etc.), handling, health, building etc.

The exoskeleton is a mechanical structure that doubles the structure of the human skeleton and gives it physical abilities that it does not have or no longer has.

For now, there are mainly two types of exoskeleton, the robotic exoskeleton and the passive exoskeleton. The robotic exoskeleton aims to dramatically increase the strength of the operator wearing it. Conversely, the passive exoskeleton aims to reduce the efforts made by the operator. In particular, the passive exoskeleton is part of a process of reducing hardship when carrying out repetitive and/or constraining work while preventing the appearance of musculoskeletal disorders (MSDs).

As such, an exoskeleton may include a posture harness. Most of the time, the purpose of the posture harness is to assist the operator's trunk flexor muscles. For example, during a flexion movement of the trunk to grasp an object on the ground or perform an operation on an element in a low position.

Certain posture harnesses such as that described by document FR 3 005 571 offer simultaneous assistance to the flexor muscles of the trunk and to the flexor muscles of the legs. Indeed, this document describes a system of upper elastic straps which connect an upper part of the posture harness resting on the shoulders to a chest belt, itself connected through lower elastic straps to leg attachment means fixed under each knee of the operator. During a trunk flexion movement, this posture harness assists the trunk and leg flexor muscles by providing elastic restoring force through the upper elastic straps. Although this elastic return force tends to straighten the operator, it also applies, via the upper part of the posture harness, a stress on the shoulders of the operator. However, this constraint at the level of the shoulders tends to generate vertebral compression which can be a source of MSDs. In addition, the lower straps also apply stress to the shoulders which is relayed by the chest belt and the upper straps. Thus, when the operator flexes his trunk, the upper and lower straps respectively apply stresses on the shoulders which add up by amplifying the phenomenon of compression of the vertebrae. In addition, the lower straps permanently apply a restoring torque to the operator's leg attachments. The operator sees his mobility and his agility reduced when he is equipped with the posture harness.

With regard to this problem, the present invention proposes to provide a technical solution making it possible to assist the flexor muscles of the trunk and/or of the legs without however reducing the mobility and agility of the operator both from a point of seen from his trunk than from his legs.

To this end, the present invention relates to a posture harness of an exoskeleton comprising an upper part configured to be held on the shoulders of an operator, the upper part being connected to at least one dorsal structure which extends along a longitudinal axis of a sagittal plane, the dorsal structure being elastically deformable and/or mobile at least along its longitudinal axis. According to the invention, the back structure is connected respectively to two leg attachments, through an elastically deformable leg structure, the leg structure being movable between an engaged position and a disengaged position, in the disengaged position, the character elastic of the leg structure is disabled.

The elastically deformable and/or mobile character of the back structure along its longitudinal axis makes it possible to assist the operator in his movements of inclination of the trunk by applying, on the one hand, a torque of the rear traction type at the level of the part upper part of the harness, and on the other hand, a couple of the forward thrust type at the level of the dorsal structure.

In addition, the elastically deformable and/or mobile nature of the back structure along its longitudinal axis makes it possible to avoid applying stresses to the upper part of the posture harness during elevation movements of the shoulders and/or arms of the operator.

At the same time, the leg structure also contributes to assisting the inclination movements of the trunk and/or the legs by applying, on the one hand, a torque of the rear traction type on the legs, and on the other hand, a torque of front thrust type of the dorsal structure. The combination of these torques tends to straighten the posture of the operator. In addition, the disengageable nature of the leg structure allows the operator to walk freely when he is not carrying loads.

In the end, the leg structure and the dorsal structure cooperate in such a way as to assist the operator in his handling tasks without impacting the mobility and agility of his trunk and/or his legs.

According to a first characteristic of the invention, the back structure is elastically deformable and/or mobile along at least one plane passing through the longitudinal axis of the back structure. Preferably, the back structure is elastically deformable and/or mobile along two planes perpendicular to each other, the longitudinal axis of the back structure corresponding to the section line between the two planes.

The elastic deformability and/or the mobility in two planes of the dorsal structure makes it possible to follow all the movements of the trunk.

According to a second feature of the invention, the back structure and the leg structure are connected through a back frame and/or a belt.

According to a third feature of the invention, the back structure comprises a bending spring in the form of a leaf spring or a spring rod. Advantageously, the elastically deformable and/or mobile character of the back structure is conferred by the flexion spring which is secured, on the one hand, to the upper part of the posture harness through a pivot connection, and on the other hand, to the back frame and/or to the belt through a sheath which is mounted so as to be able to move in translation and/or in rotation in a mechanical guide.

According to a variant of the third characteristic, the mechanical guide is connected to the back frame and/or to the belt through a pivot connection.

According to a fourth characteristic, the leg structure comprises at least one bending spring, preferably the leg structure comprises two bending springs. Advantageously, the bending spring is formed by a spring rod.

According to a fifth characteristic of the invention, the leg structure comprises a disengagement mechanism allowing the passage of the leg structure from its engaged position to its disengaged position and vice versa.

According to a sixth characteristic of the invention, the leg structure comprises at least one return strap which is linked, on the one hand, to the back structure, and on the other hand, to a leg attachment. Advantageously, the return strap makes it possible to prevent the torque applied by the leg structure from causing the rotation of each leg attachment.

The invention also relates to an exoskeleton incorporating a posture harness according to the invention.

Other features and advantages will appear from the following detailed description of two non-limiting examples of embodiment of the invention, which are illustrated by Figures 1 to 11 placed in the appendix and in which:

FIG. 1 represents a front view of a posture harness according to a first embodiment of the invention;

Figure 2 shows a top view of the posture harness of Figure 1;

Figure 3 shows a side view of the posture harness Figure 1;

Figure 4 shows a rear view of the posture harness of Figure 1;

Figure 5 corresponds to a zoom of Figure 4;

Figure 6 shows a leg attachment and an elastically deformable leg structure of the posture harness Figure 1;

Figure 7 is a perspective representation of the posture harness of Figure 1;

FIG. 8 is a representation of a mechanism for disengaging the leg structure;

[Fig.10] Figures 9 and 10 are respective representations of a front view and a rear view of a posture harness according to the second embodiment of the invention; and

FIG. 11 is a schematic view of an operator tilting his trunk and representing the torques exerted by the posture harness on the operator.

The present invention relates to a posture harness 1 configured to equip an operator who is responsible for handling, maintenance or even installation tasks. The common point of these tasks is that they solicit the flexor muscles of the trunk, and/or the flexor muscles of the legs, of the operator. In this sense, the posture harness 1 is configured to assist the flexor muscles of the trunk and/or the legs without however applying compressive stresses to the shoulders of the user.

With this in mind, the posture harness 1 comprises an upper part 2 which is configured to be held at the shoulders of the operator. The upper part 2 is connected to at least one dorsal structure 3. The dorsal structure 3 extends along a longitudinal axis XX of a sagittal plane A. The dorsal structure 3 can be directly connected to a leg structure 4 which comprises two leg ties 5.

Due to the elastically deformable nature of the back structure 3 and/or of the leg structure 4, the posture harness 1 is configured to apply a torque at its attachment points and/or support points with the anatomy of the operator.

In the example illustrated in Figure 11, when the operator tilts his trunk, the back structure 3 is configured to apply an elastic torque to the upper part 2 secured to the operator's shoulders. Here, the elastic torque applied to the upper part corresponds to a rear traction which tends to straighten the trunk of the operator. At the same time, the dorsal structure 3 is configured to apply forward thrust from the operator's pelvis. This thrust is operated by a support portion 30 of the back structure 3 which is configured to be positioned at the level of the operator's pelvis.

Furthermore, the posture harness 1 comprises a leg structure 4 configured to apply an elastic torque on the operator's pelvis and thighs (shown in Figure 11). In this example, the leg structure 4 cooperates with the dorsal structure 3 by applying a forward thrust from the operator's pelvis. Additionally, the leg structure applies rear traction through the leg attachments 5. The rear traction at the leg attachments tends to straighten the operator's legs.

Advantageously, the leg structure 4 is movable between an engaged position and a disengaged position. In the disengaged position, the leg structure 4 is deactivated. That is to say, it does not apply torque to the pelvis and/or the legs. This characteristic is particularly advantageous in the sense that it allows the operator to move freely when he does not need assistance. The disengageable nature of the leg structure 4 provides a gain in agility for the operator equipped with the posture harness 1. In addition, the disengageable nature of the leg structure 4 allows the operator to sit down without removing the harness of posture 1. Indeed, it suffices to disengage the leg structure 4 to deactivate it.

In this example, the back structure 3 and the leg structure 4 are connected through a back mechanical element 6 and/or a belt 60. According to the invention, the back mechanical element 60 can be a simple plate mechanism connecting the back structure 3 to the leg structure 4. The back mechanical element 6 can take a multitude of forms.

In the example illustrated in Figures 1 to 10, the back mechanical element 6 is integrated into the belt 60. The belt 60 is adapted to be adjusted around the waist of the operator. In the example illustrated in FIG. 2, the back reinforcement 6 extends symmetrically on either side of a median sagittal plane of the belt 60. In this example, the median sagittal plane of the belt 60 corresponds to the sagittal plane A in which extends the longitudinal axis XX of the dorsal structure 3.

In particular and as illustrated in Figures 4, 5 and 10, the back frame 6 includes a rigid back plate 61. Here, the dorsal plate 61 extends along a transverse plane B perpendicular to the median sagittal plane A (illustrated in figure 2).

Here, the back frame 6 is extended by two hip flanks 62. The hip flanks 62 also extend symmetrically with respect to the median sagittal plane A. More specifically, the hip flanks 62 extend symmetrically from the dorsal plate 61 to a second transverse plane C parallel to the first transverse plane B.

In addition, the back frame 6 is configured to rest on bone structures of the operator's pelvis. For these purposes, the back frame 6 is held in position by shoulder straps 20. The shoulder straps 20 extend frontally with respect to the transverse plane B. In practice, the back frame 6 is connected to a lower end 21 of each shoulder strap 20. More specifically, the lower end 21 of each shoulder strap 20 is respectively connected to the back frame 6 via a hip flank 62. While a high end 22 of each shoulder strap 20 is connected to the upper part 2 of the posture harness 1.

Still in the example illustrated in Figure 2, the hip flanks 62 are interconnected by a ventral strap 63. Here, the ventral strap 63 extends frontally beyond the transverse plane C. The ventral strap 63 is detachable and helps keep the belt 60 in position around the operator's waist. The dorsal frame 6, the hip flanks 62 and the ventral strap 63 constitute the belt 60.

As illustrated in Figures 1, 2, 4, 9 and 10, the back frame 6 is elastically connected, on the one hand, to the upper part 2 of the posture harness 1 in particular via the back structure 3, and on the other hand , to two leg attachments 4 via the leg structure 4.

In this example, the upper part 2 is held in position behind the operator's back at the level of his shoulder line. To this end, the upper part 2 of the posture harness 1 is equipped with shoulder straps 20. The shoulder straps 20 ensure that the posture harness 1 is held in position on the operator as we have described it. The shoulder straps 20 are connected to a support element 23. When the posture harness 1 is in the rest position, the support element 23 extends transversely in a transverse plane. In this example, the support element 23 is formed by a rigid or semi-rigid plate. The support element 23 is held in position through the shoulder straps 20.

In the example illustrated in Figures 1, 3 to 6 and 8 to 10, each shoulder strap 20 extends from its upper end 22 located forming a point of attachment with the support element 23 on one side of the plane sagittal A. Each shoulder strap 20 is connected to a hip flank 62 located on the same side of the sagittal plane A. Each shoulder strap 20 is connected to a hip flank 62 via the lower end 21 of each strap d shoulder 20 which forms a point of attachment with the hip flank 62. Of course, each shoulder strap 20 is adjustable according to the morphology of the operator.

According to a non-illustrated alternative of the invention, the shoulder straps 20 can be configured crossed with respect to each other. According to this configuration, the high end 22 and the low end 21 of the same shoulder strap 20 are respectively positioned on each side of the sagittal plane A.

As we have described, the back frame 6 is connected to the upper part 2 of the posture harness 1 through at least one back structure 3. Preferably, the longitudinal axis XX of the back structure 5 is extends in the sagittal plane A. However, the dorsal structure 3 can also extend along a longitudinal axis XX parallel to the sagittal plane A.

Advantageously, the back structure 3 is elastically deformable and/or mobile at least along its longitudinal axis X-X. Preferably, the back structure 3 is elastically deformable and/or mobile at least along a plane passing the longitudinal axis X-X of the back structure 5.

In the example illustrated in FIGS. 1 to 10, the dorsal structure 3 is elastically deformable at least in the sagittal plane A. This characteristic makes it possible to assist the flexor and/or extensor muscles of the trunk when the operator performs an anteversion of the trunk (tilted forward) or a retroversion of the trunk (tilted backward). For this purpose, the dorsal structure 3 comprises a flexion spring 30. Advantageously, when the operator performs an anteversion or a retroversion, the flexion spring 30 applies in reaction to its deformation a torque on the upper part 2 of the posture harness 1. Whatever the direction of trunk inclination, the torque applied to the upper part 2 assists the flexor muscles of the trunk and induces a straightening of the operator's trunk (illustrated in FIG. 11).

At the same time, the dorsal structure 3 is movable along its longitudinal axis X-X which is included in a sagittal plane A. In practice, the dorsal structure 3 is mounted movable in translation along its longitudinal axis X-X.

Advantageously, this translational mobility allows the posture harness 1 to automatically adjust to the size of its operator when the latter is fitted with the posture harness 1. In addition, the translational mobility of the back structure 3 makes it possible to avoid that vertebral compression stresses are applied to the operator's shoulders when the latter performs arm and/or shoulder elevation movements. It is thus possible to prevent a phenomenon of compression of the vertebrae.

In this example, the dorsal structure 3 is elastically deformable and/or mobile along a first sagittal plane comprising its longitudinal axis X-X. Preferably, the first sagittal plane A corresponds to the median sagittal plane of the belt 6.

The flexion spring 30 confers its elastic deformable character on the dorsal structure 3. Through a first end 31, the flexion spring 30 is connected to the upper part 2 of the posture harness 1. The flexion spring 30 comprises a second end 32 opposite the first end 31. The second end 32 connects the bending spring 30 to the back frame 6. Here, the second end 32 is mounted to move relative to the back frame 6. More particularly, the second end 52 is mounted to move in translation relative to the back frame 6.

For these purposes, the bending spring 30 is secured to the back frame 6 through a sheath 33 which is mounted to move in translation in a mechanical guide 34 secured to the back frame 6. In practice, the sheath 33 is rigidly secured to the second end 32 of the bending spring 30.

Furthermore, the sheath 33 includes a stop preventing it from disengaging from the mechanical guide 34 during movements of extreme amplitude.

However, when the bending spring 30 bends in reaction to the tilting movement of the operator's trunk, the second end 32 bears, via the sheath 33, on the mechanical guide 34. The translation of the sheath 33 at the within the mechanical guide 34 is then blocked by the mechanical reaction of the bending spring 30.

The dorsal structure 3 is also mobile along a second transverse plane which is perpendicular to the sagittal plane A which includes the longitudinal axis XX of the dorsal structure 3. The longitudinal axis XX corresponding to the section line between the transverse plane and the plane sagittal A. In this example, the dorsal structure 5 is movable along the transverse plane B. For this purpose, the flexion spring 30 is connected to the upper part 2 and/or to the dorsal reinforcement 6 through a link pivot 55, 56. This characteristic makes it possible to keep the back structure 3 in the median plane A when the operator tilts his trunk laterally and/or performs a one-arm elevation. Thus, in this situation, the back structure 3 retains its ability to deform according to the inclination of the operator's trunk.

In the example in Figures 4, 5, 9 and 10, the bending spring 30 is connected to the upper part 2 via a pivot link 35. Here, the pivot link 35 is formed between the first end 31 of the bending spring 30 and the support element 23 of the upper part 2 of the posture harness 1. In this configuration, the axis of rotation of the pivot link 35 is perpendicular to the transverse plane in which the support element 23 extends.

In a first example illustrated in Figures 1 to 7, the dorsal structure 3 is elastically deformable along a second transverse plane perpendicular to the sagittal plane comprising the longitudinal axis X-X. The longitudinal axis X-X corresponds to the line of intersection of said planes. In this example, the dorsal structure 3 is elastically deformable in the sagittal plane A and the transverse plane B. The property of elastic deformability along two planes perpendicular to each other makes it possible to assist the flexor muscles of the trunk both for forward and backward trunk tilt movements than for lateral trunk tilt movements. Advantageously, the dorsal structure 3 assists the operator in all these trunk movements.

This property of elastic deformability in two planes perpendicular to each other can be conferred by the choice of the type of bending spring 30.

In this example, the bending spring 30 is formed by a spring rod 300. In this example, the spring rod 300 is made of polymeric and/or composite materials. Preferably, the spring rod 300 is made of fiberglass. This preferential choice is justified by the combined properties of lightness and elasticity of fiberglass.

As illustrated in Figures 4 and 5, the sheath 33 takes the form of a cylinder in which the spring rod 300 is fitted and secured. In this example, the mechanical guide 34 is formed by a bearing which is secured to the back frame 6. The bearing comprises guide means. The guide means ensure the mobility of the back structure 3 along the longitudinal axis X-X. As an indication, the guide means can be formed by bearings or ball bearings.

Advantageously, the sheath 33 is also rotatable along the longitudinal axis X-X. It is thus possible to qualify the mechanical assembly of the sheath 33 in the mechanical guide 34 as a “sliding pivot connection”. The mobility in rotation of the sheath 33 allows the operator to maintain his agility and/or the mobility of his trunk. Indeed, this arrangement makes it possible to leave the shoulders free to rotate to the right or to the left.

Thus, in the example illustrated in Figures 1 to 7, the back structure 3 is elastically deformable and mobile along the longitudinal axis X-X. In particular, the dorsal structure 3 is mobile in translation and in rotation along the longitudinal axis X-X.

In a second example illustrated in Figures 9 and 10, the bending spring 30 is formed by a leaf spring 301. In this example, the leaf spring 301 is made of polymeric and/or composite materials. Preferably, leaf spring 301 is made of fiberglass. The choice of fiberglass is justified in the same way as for the spring rod 300.

However, by its nature, the leaf spring 301 cannot deform elastically in a plane transverse to its longitudinal axis XX such as the transverse plane B. In this example, the leaf spring 301 is mounted so as to be able to rotate relative to the back reinforcement 6 through a pivot link 36. The axis of rotation of this pivot link 36 is perpendicular to the longitudinal axis XX. Thus, like a connecting rod, the leaf spring 301 is respectively connected to the upper part 2 and to the back reinforcement 6 according to two pivot connections 35, 36. In this example, the two pivot connections 35, 36 have a axis of rotation parallel to each other.

This characteristic compensates for this inability to deform elastically in a plane transverse to its longitudinal axis X-X. Indeed, when the operator performs a lateral inclination of the trunk, the upper part 2 of the posture harness 1, follows the tilting movement of the shoulders, while the leaf spring 301 is offset with respect to its rest position which is illustrated in Figures 9 and 10. When the leaf spring 301 is offset following the inclination of the operator's trunk, an elastic reaction is applied to the upper part 2 of the posture harness 1 which accompanies the movement of the operator.

In this example, the leaf spring 301 fits together and is integral with a sheath 33 of rectangular shape. In this example, the sheath 33 is mounted behind the scenes in a mechanical guide 34 (visible in transparency in FIG. 10). The mechanical guide 34 consists of a hollow body forming a rail. Furthermore, the mechanical guide 34 is connected to the back frame 6 through the pivot connection 36.

In addition, as illustrated in Figures 1 to 10, the back frame 6 is respectively connected to two leg attachments 5 through an elastically deformable leg structure 4. In this example, each leg attachment 5 is formed by a sleeve 50. Each sleeve 50 is configured to fit the morphology of an operator's leg. To this end, each sleeve 50 is equipped with an adjustment strap 51 (illustrated in Figures 5 and 10). In order to optimize the fit of each sleeve 50, the adjustment strap 51 may have elastic properties.

It should be noted that the connection between the leg structure 4 and the back frame 6 or of each hip flank 62. Preferably, as illustrated in this example, the leg structure 4 extends from each leg attachment 5 and is connected to the back frame 6 respectively at the level of each hip flank 62.

The leg structure 4 includes two flexion springs 40. Each flexion spring 40 extends from a leg attachment 5 to a hip flank 62. Preferably, the flexion spring 40 is formed by a spring rod 41. The spring rod 41 can be made of a metallic, polymeric and/or composite material. However, as mentioned above and for the same advantages, the spring rod 41 is preferably made of fiberglass.

As particularly visible in Figures 5 to 8, each bending spring 40 is connected to the back frame 6 through a junction piece 63. Each junction piece 63 is integral with a hip flank 62. In practice , an upper end 42 of the spring rod 41 forms a pivot connection 43 with a shaft 64 formed in the junction piece 63. The shaft 64 is removable via a pin in order to store and transport the posture harness 1.

As we have mentioned, the leg structure 4 is advantageously movable between an engaged position and a disengaged position. With this in mind, the leg structure 4 comprises a disengagement mechanism 44 for each bending spring 40. The disengagement mechanism 44 is movable between a disengaged position and an engaged position.

When the disengagement mechanism 44 is in the disengaged position, the upper end 42 of the bending spring 40 is engaged in free rotation in the pivot connection 43. This disengaged position allows, for example, the operator to sit down normally without removing the posture harness 1. In the same way, when the operator wishes to move without carrying loads, the disengaged position makes it possible to free his legs from the torque applied by the leg structure 4, and consequently to free the walk of the 'operator.

When the disengagement mechanism 44 is in the engaged position, the rotation of the upper end 42 of the bending spring 40 around the shaft 64 is blocked. Thus, when the release mechanism 44 is in the engaged position, the flexion spring 40 is embedded between the leg attachment 5 and the back frame 6.

The leg structure 4 comprises a control 45 which controls the passage of the disengagement mechanism 44 from the disengaged position to the engaged position and vice versa. In the example illustrated in particular in FIGS. 5 to 8, the control 45 is formed by a lever which actuates an indexing finger 46. In the engaged position, the indexing finger 46 is engaged with the upper end 42 of the bending spring 40. Here , the upper end 42 comprises a bearing mounted on the shaft 64. The bearing is equipped with a peripheral bore configured to cooperate with the indexing finger 46. Conversely in the disengaged position, the indexing finger 46 is disengaged from the upper end 42. According to this position, the upper end 42 is in free rotation around the shaft 64.

As illustrated in Figures 1 to 10, the bending spring 40 is embedded through its lower end 47 with a receptacle 52 secured to the leg attachment 5. In addition, the leg structure 4 includes a return strap 48. The return strap 48 prevents the force applied by the bending spring 40 on the leg attachment 5 from causing the rotation of the leg attachment 5 around the operator's leg. In the case of a bending spring 40 formed by a spring rod 41, the return strap 48 prevents the spring rod 41 from deforming in torsion. When the spring rod 41 is made of a fiberglass material, torsional deformation could crack the fiberglass. The return strap 48 overcomes this problem.

In this example, the return strap 48 is linked, on the one hand, to the back frame 6, and on the other hand, to a leg attachment 5.

Of course, the posture harness 1 as defined by the present description can be integrated into an exoskeleton 7 and in particular into a passive exoskeleton 7. The 7 exoskeleton can also be equipped with additional handling accessories such as a mechanical arm, a traction arm or specific tools. For these purposes, in this example the belt 60 is equipped with coupling means 65 adjustable to an accessory.]

Claims (12)

[Posture harness (1) of an exoskeleton comprising an upper part (2) configured to be held on the shoulders of an operator, the upper part (2) being connected to at least one back structure (3) which s' extends along a longitudinal axis (XX) of a sagittal plane (A), the back structure (3) being elastically deformable and / or mobile at least along its longitudinal axis (XX), the back structure (3) is respectively connected to two leg attachments (5), through an elastically deformable leg structure (4), the leg structure (4) being movable between an engaged position and a disengaged position, in the disengaged position the elastic nature of the structure of leg (4) is deactivated. Posture harness (1) according to claim 1, characterized in that the back structure (3) is elastically deformable and / or mobile along at least one plane (A, B) passing through the longitudinal axis (XX) of the structure dorsal (3). Posture harness (1) according to Claim 2, characterized in that the dorsal structure (3) is elastically deformable and / or mobile in two planes (A, B) perpendicular to each other, the longitudinal axis ( XX) of the dorsal structure (3) corresponding to the section line between the two planes (A, B). Posture harness (1) according to one of claims 1 to 3, characterized in that the back structure (3) and the leg structure (4) are connected through a back frame (6) and / or d 'a belt (60). Posture harness (1) according to one of claims 1 to 4, characterized in that the back structure (3) comprises a bending spring (30) in the form of a leaf spring (300) or a spring rod (301). Posture harness (1) according to claims 4 and 5, characterized in that the flexion spring (30) is secured, on the one hand, to the upper part (2) of the posture harness (1) through a pivot connection (35), and on the other hand, to the dorsal frame (6) and / or to the belt (60) through a sleeve (33) which is mounted mobile in translation and / or in rotation in a mechanical guide (34). Posture harness (1) according to Claim 6, characterized in that the mechanical guide (34) is connected to the back frame (6) and / or to the belt (60) through a pivot connection (36) . Posture harness (1) according to one of claims 1 to 7, characterized in that the leg structure (4) has at least one bending spring (40), preferably the leg structure (4) has two springs flexion (40). Posture harness (1) according to Claim 8, characterized in that the flexion spring (40) is formed by a spring rod (41). Posture harness (1) according to one of claims 1 to 9, characterized in that the leg structure (4) comprises a release mechanism (44) allowing the passage of the leg structure (4) from its engaged position to its disengaged position and vice versa. Posture harness (1) according to one of claims 1 to 10, characterized in that the leg structure (4) comprises at least one return strap (48) which is connected, on the one hand, to the back structure (3), and on the other hand, to a leg attachment (5). Exoskeleton (7), characterized in that it incorporates a posture harness defined according to one of claims 1 to 11.]