Powered exoskeleton joint

Abstract

A powered exoskeleton joint includes an actuation unit and an actuation arm mounted oscillatingly onto the actuation unit. The actuation unit moves the actuation arm oscillatingly around the joint. The actuation arm is coupled to the frame of an exoskeleton by a coupling system. The coupling system includes a first part integral with the actuation arm and another part integral with the exoskeleton frame, which parts are insertable at least partially inside each other, as a male part and a female part, the male part passing from an inserted condition to an extracted condition, and vice-versa. The female part has tapered surfaces complementary to external surfaces of a male end of the male part and includes a pin for locking the male part in the inserted condition, mounted translatable according to a direction incident to the insertion direction, which engages with a corresponding locking housing provided on the male part.