EXOSKELETON STRUCTURE ADAPTED TO THE SHOULDER

An exoskeleton structure includes a back assembly, an arm assembly, and a shoulder connection device. The shoulder connection device includes a first connection part, a first pivot connecting the first connection part to the back assembly while allowing rotation of the first connection part around a first axis of rotation, a second connection part, a second pivot connecting the first connection part to the second connection part while allowing rotation of the second connection part around a second axis of rotation orthogonal to the first axis, and a third pivot connecting the second connection part to the arm assembly while allowing rotation around a third axis of rotation orthogonal to the second axis of rotation. The second pivot is arranged so that the second axis of rotation forms a non-zero angle with an abduction/adduction axis of the shoulder and a non-zero angle with a flexion/extension axis of the shoulder.