MODULAR EXOSKELETAL SYSTEM

A modular exoskeletal system (100) for handling at least one hand finger (10) of a user, said modular exoskeletal system (100) comprising at least one finger exoskeleton (120) comprising n ≥ 1 rotational joints (121) and m ≥ 1 link (125) arranged to rotate by means of respective rotational joints (121), said n ≥ 1 rotational joints (121) comprising a fastening rotational joint (121') arranged to allow the rotation of a fastening link (125') about a rotation axis x, said or each finger exoskeleton (120) arranged to transmit an actuation torque M from the fastening link (125') to the hand finger (10). The modular exoskeletal system (100) also comprises an actuation unit (110) comprising an actuator (111) adapted to generate said actuation torque M, at least one Bowden cable (112) comprising an inner cable (112a) and an outer coating (112b), said or each Bowden cable (112) arranged to transmit the actuation torque M to said or each finger exoskeleton (120), a locking device (113) having at least one opening (113') arranged to constrain the outer coating (112b) of the Bowden cable (112) and to allow the inner cable (112a) to slide. In particular, quick coupling means are also comprised arranged for causing the modular exoskeletal system (100) to reversibly pass between an actuated configuration, wherein the actuation unit (110) is connected to said or each finger exoskeleton (120), and a not actuated configuration, wherein the actuation unit (110) is disconnected by said or each finger exoskeleton (120). L'invention concerne un système d'exosquelette modulaire (100) pour manipuler au moins un doigt de main (10) d'un utilisateur, ledit système d'exosquelette modulaire (100) comprenant au moins un exosquelette de doigt (120) comprenant n ≥ 1 articulations de rotation (121) et m≥ 1 liaison (125) agencée pour tourner au moyen d'articulations de rotation respectives (121), lesdites n≥ 1 articulations rotatives (121) comprenant une articulation rotative de fixation (121') agencée pour permettre la rotation d'une liaison de fixation (125') autour d'un axe de rotation x, ledit ou chaque exosquelette de doigt (120) agencé pour transmettre un couple d'actionnement M de la liaison de fixation (125') au doigt de la main (10). Le système d'exosquelette modulaire (100) comprend en outre une unité d'actionnement (110) comprenant un actionneur (111) adapté pour générer ledit couple d'actionnement M, au moins un câble Bowden (112) comprenant un câble intérieur (112a) et un rev