Electrolaminate clutches for an exosuit system
A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer.

Systems, methods, and devices for assisting walking for developmentally-delayed toddlers
In at least some aspects, the present concepts include a method of enabling rehabilitation of bodily control of a user comprising the acts of: integrating the user within a multi-module robotic system, the multi-module robotic system comprising modules of a flexible exosuit, a support module, a mobile base, or a combination thereof, applying one or more forces, cues, or a combination thereof on the user, based on one or more subtask-specific functions of the modules, to cause a developing of one or more subtasks of the bodily control, and managing control of one or more remaining subtasks of the bodily control by the modules in place of at least in part, the user while applying the one or more forces, cues, or a combination thereof.

Soft exosuit for assistance with human motion
In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

Exosuit system systems and methods for assisting, resisting and aligning core biomechanical functions
Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer.

Exosuit load bearing distribution systems
Exosuit systems may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer. In order to transmit assistance to the user of the exosuit, loads need to be translated by the exosuit. This is can be through the use of load distribution members. Load distribution members can be placed around the pelvis, waist, thighs, and other body parts.

A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.

Systems and methods for assistive exosuit system

Patch systems for use with assistive exosuit
Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer. One or more patch assemblies may be removably coupled to the exosuit.

Exosuit systems and methods

Generating personalized exosuit designs
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating personalized exosuits. In some implementations, sensor data indicating a three-dimensional shape of stretchable template garment while the template garment is worn by a person and has been stretched to align with the person's anatomy is obtained. The template garment can include indicators corresponding to positions for components of an exosuit, and can correspond to an exosuit design. The sensor data is analyzed to determine locations of the indicators of the template garment. A personalized exosuit design is generated for the person by adjusting a computer model for the exosuit design to locate components of the exosuit at regions corresponding to the identified locations of the indicators of the template garment. The personalized exosuit design is provided to one or more manufacturing devices.

Soft inflatable exosuit for knee rehabilitation
A soft-inflatable exosuit for knee rehabilitation is fabricated in two different beam-like structures (I and O cross-section actuators) and mechanically characterized for their torque performance in knee-extension assistance. The fabrication procedure of both types of actuators is presented as well as their integration into a light-weight, low-cost and body-conforming interface. To detect the activation duration of the device during the gait cycle, a soft-silicone insole with embedded force-sensitive resistors (FSRs) is used. In evaluation studies, the soft inflatable exosuit device is tested for its ability to reduce muscle activity during the swing phase of the knee. Using sEMG (surface electromyography) sensors, the rectus femoris muscle group of a healthy individual is recorded while walking on a treadmill at a constant speed, with and without the soft device.

Exosuit systems and methods for posture session segmentation and biomechanical feedback
Systems and methods for monitoring posture of a user wearing an exosuit are discussed herein. Exosuits worn by users can monitor several movement factors that characterize the user's movements and posture. The user's posture is identified and analyzed, and feedback is provided to the user based on the analyzed posture.

Exosuit systems with lumbar and core support
Exosuits that use core grip members are described herein. Core grip members apply forces in a radially inward manner from the exterior of the body to the interior of the body to provide support to the user and to serve as a platform for mounting power layer segments.

Controls optimization for wearable systems
A wearable system includes an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the wearer and the exosuit or exoskeleton, and/or an operation of the exosuit or exoskeleton; and a controller(s) configured to: actuate the actuator(s) according to an actuation profile(s), evaluate the objective function based on the information measured by the at least one sensor to determine a resulting change in the objective function, adjust a parameter(s) of the actuation profile(s) based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the actuation parameter(s) for maximizing or minimizing the objective function. Wearable systems configured to assist or promote an improvement in the wearer's gait and optimized using a gradient descent or Bayesian approach.

Exosuit activity transition control
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data for a powered exosuit is received. The sensor data is classified depending on whether the sensor data is indicative of a transition between different types of activities of a wearer of the powered exosuit. The classification is provided to a control system for the powered exosuit. The powered exosuit is controlled based on the classification.

Flexible exosuit for assistive mobility
An exosuit includes a first structure including a series of link elements joined together by joints. The series of link elements extends along a length of the first structure. The joints are configured to flex such that, when the exosuit is worn by a user, the first structure at least partially conforms to a shape of the user's anatomy at a first side of the first structure that extends along the length. The joints restrict flexing that would deform a second side of the first structure extending along the length of the first structure. The exosuit includes a second structure and an actuator coupled to the first structure and the second structure. The actuator causes movement of the first structure relative to the second structure. The exosuit includes an attachment portion to attach the exosuit to the user with the first side of the first structure facing toward the user.

Wearable exoskeleton
Systems and methods for a powered, robotic exoskeleton, or exosuit, for a user's limbs and body are provided. The exosuit may be equipped with airbag devices mounted at various locations on the suit. The exosuit may include on-board computing equipment that can sense, compute control commands in real-time, and actuate limbs and airbags to restore stability (fall prevention) and minimize injuries due to falls, should they happen (fall protection).

Moment arm extension system for exosuit
A moment arm extension system and method for improving the mechanical advantage of a wearable assistance device by increasing the moment arm of a force-bearing member relative to an underlying body segment of a user are disclosed. The moment arm extension system achieves this by shifting the force-bearing member to lie farther away from the body segment of the user.

Exosuit support systems and methods
An exemplary embodiment of the present invention provides an exosuit support system, comprising first and second orthotic interfaces, first and second members, and first and second actuators. The first and second orthotic interfaces can be configured to attach to left and right legs of a user, respectively. The first member can comprise a first end connected to the first orthotic interface and a second end connected to a portion of the system configured to be positioned proximate a right shoulder of the user. The second member can comprise a first end connected to the second orthotic interface and a second end connected to a portion of the system configured to be positioned proximate a left shoulder of the user. The first actuator can be configured to apply a first tension to the first member. The second actuator can be configured to apply a second tension to the second member.

Exosuit system

Twisted string actuators for an exosuit system

shows a block diagram of an example of one embodiment of an actuation system for a soft exosuit according to at least some aspects of the present concepts. FIG. 9 shows a representation of the controlled actuation of the soft exosuit during a portion of a gait cycle in a soft exosuit according to …

In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to …

control electronics coupled to the substrate, the at least one FLA, and the at least one battery and configured to selectively activate the at least one FLA to provide muscle movement assistance to a user of the exosuit, wherein the at least one FLA shortens a length of the twisted string to apply …

4. A method for assisting human movement using an exosuit comprising a plurality of sensors, a plurality of load distributing members, and a plurality of flexible linear actuators (FLAs) that are coupled to and operative to apply forces between the plurality of load distributing members such that …

Exosuit system systems and methods for assisting, resisting and aligning core …
claim 8 , wherein the exercise factors comprise movement factors and form factors. 11. The system of claim 8 , wherein the exercise factors are adjusted to compensate for dimensions of the user of the exosuit. 12. The system of claim 8 , wherein each of the plurality of power layer segments comprises:

Exosuit System
A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer.

Soft exosuit to assist people with exercise
FIG. 1 shows an exemplary embodiment of an exosuit system 100, which may generally include a soft exosuit 200, an actuation system 300, a sensor 400, and a control system 500. Soft exosuit 200 may be worn by a user, and actuation system 300 may move components of soft exosuit 200 to generate …

11. The exosuit of claim 10 , further comprising an internal measurement sensor coupled to the shoe, the internal measurement sensor having nine degrees of freedom. 12. The exosuit device of claim 9 , wherein the sensor is part of a wireless monitoring system. 13. The exosuit device of claim 9 ,

A wearable system includes an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the …

Management of biomechanical achievements
Systems and methods and media for managing biomechanical achievements are provided. An exosuit or any other suitable sensor assembly worn by a user can be utilized by a system to monitor several movement factors that may characterize the user's movement and any changes in the user's movement with …

Wearable devices for protecting against musculoskeletal injuries and enhancing …
claim 1 , further comprising a clutch configured to selectably lock a length of the connecting element between two or more selected from the group of the first anchor, the second anchor, and the third anchor to control a level of tension generated in the flexible exosuit. 20. The flexible exosuit of

Flex grip
The flexible exosuit, wherein the control circuit is coupled and operates to control the second torsion actuator in order to facilitate an auxiliary operation for the user of the flexible exosuit. The flexible exosuit according to claim 3, wherein the first part is a torso or a buttocks, the first …

Orthopedic device including protruding members
10, 2015, titled, “ORTHOPEDIC DEVICE INCLUDING PROTRUDING MEMBERS”, which claims priority to U.S. provisional application Ser. No. 61/977,880, filed on Apr. 10, 2014, entitled “KNEE EXOSKELETON AND DOWNHILL WALKING DEVICE,” U.S. provisional application Ser. No. 62/138,848, filed on Mar. 26, 2015, …

Systems, methods, and devices for assisting walking for developmentally-delayed …
In at least some aspects, the present concepts include a method of enabling rehabilitation of bodily control of a user comprising the acts of: integrating the user within a multi-module robotic system, the multi-module robotic system comprising modules of a flexible exosuit, a support module, a …

Flexible wearable muscle assist device
Asbeck, Alan T. et al. presented a paper “Biologically-inspired soft exosuit” at the 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), IEEE, 2013. Wehner, Michael et al. presented the paper “A lightweight soft exosuit for gait assistance” at the 2013 IEEE International …

Flexible members for anchoring to the body
18 . 4 . Such a construction allows actuation members 17 , 18 to deliver tensile force to a portion of exosuit 10 distal from actuator 16 , without necessarily applying the tensile force to intermediate portions of exosuit 10 . In particular, a distal end of sheath 18 . 2 may be coupled with calf anchor 13

Assisted lifting devices
FIG. 2A , in a deflated position. FIG. 2D illustrates the array of FIG. 2C in an inflated state. FIG. 3A illustrates an embodiment of the soft robotic elbow exosuit of FIG. 1 . FIG. 3B illustrates a governing free body diagram (FBD) of the actuator array of FIG. 3A against the worker's elbow. FIG. 4A

Soft portable wearable pneumatic interactive suit
FIG. 8C schematically showing a motion of providing extension and flexion, FIG. 8D showing lateral bending, and FIG. 8E showing torsional bending with the soft torso exosuit; FIG. 9 shows an exemplary embodiment of the schematic of electromechanical elements of the portable pneumatic supply device;

Assistive flexible suits, flexible suit systems, and methods for making and …
Prior art systems for assisted motion utilize exoskeletons, comprising rigid components (e.g., linkages) and joints (e.g., pin joint), attached to the wearer's body with the exoskeleton joint(s) being disposed to have an axis of rotation ideally collinear with a natural axis of rotation for …

Personal Augmentation Suit and Method for Assisted Human Motion
In another example, U.S. patent publication 2015/0321339 discloses a soft exosuit that generates forces about one or more joints based on anchor elements and connection elements disposed between the anchor elements. The exosuit uses sensors to determine forces on the anchor or connection elements.

Personal augmentation suit and method for assisted human motion

Mobile device utilizing time of flight for personal security and localization
Another embodiment of this MPSD includes one or more cameras that may work separately or in unison with the MCD camera to provide three dimensional (3D) video capture or pictures (this 3D combined with GPS (location information) information can be combined with an exosuit to provide help to elderly …

Personal protective equipment (PPE) with analytical stream processing for …
… , or the article of PPE. 17. The system of claim 1 , wherein the article of PPE comprises at least one of an air respirator system, a fall protection device, a hearing protector, a head protector, a garment, a face protector, an eye protector, a welding mask, or an exosuit. 18. The system of claim 1 ,

Method and system for determining a correct reproduction of a movement
, wherein the user is a person or an object. 18. The computer-implemented method of claim 17 , wherein the object is a robot, an exoskeleton, or an exosuit. 19. The computer-implemented method of claim 17 , wherein the motion tracking system comprises a first sensor adapted to measure the first …

Personal Protective Equipment (PPE) with analytical stream processing for …
Computing device. The method of claim 29, The PPE article includes at least one of an air respirator system, a fall protection device, a hearing protector, a head protector, a garment, a face protector, an eye protector, a welding mask, or an exosuit Computing device. The method of claim 29, The …

Wearable device to monitor musculoskeletal loading, estimate tissue microdamage …
A wearable device operably worn by a user for monitoring musculoskeletal loading on structure inside the body of the user includes a plurality of sensors, each sensor operably worn by the user at a predetermined location and configured to detect information about a biomechanical activity of …

Personal protective equipment system having analytics engine with integrated …
41. The non-transitory computer-readable storage medium of claim 33 , wherein the article of PPE comprises at least one of an air respiratory system, a fall protection device, a hearing protector, a head protector, a garment, a face protector, an eye protector, a welding mask, or an exosuit. 42. The …

Real-time feedback-based optimization of an exoskeleton
modify, based on the metric, the level of a mechanical power provided by the exoskeleton to the foot and the ankle during one or more subsequent movements to maintain a determined ratio between the level of the mechanical power and the amount of power used by the battery of the exoskeleton during …

Customized configuration for an exoskeleton controller
7. The system of claim 1 , comprising the one or more processors to: pair the exoskeleton with a client device via a wireless connection; and provide, via the wireless connection, second feedback on performance of the exoskeleton to the client device paired with the exoskeleton. 8. The system of

Methods of exoskeleton communication and control
9. The method of claim 1, further comprising adjusting a speed or direction of movement of the first exoskeleton based on the second data. 10. The method of claim 9, further comprising transmitting the second data from the central server to a peripheral device and then to the first exoskeleton, …

Devices and methods for improving the utility of an exoskeleton mobility base
wherein: the exoskeleton is configured to receive power from the mobile base; and the exoskeleton energy module receptacle is further configured to transfer power to the energy module when the energy module is received in the exoskeleton energy module receptacle, thereby charging the energy module.

Human exoskeleton devices for heavy tool support and use
9. The exoskeleton of claim 1 , further comprising: a tool-holding arm configured to support the tool; a tool coupling configured to connect the tool to the tool-holding arm; and a plurality of conduit guides configured to route the conduit along the tool-holding arm. 10. The exoskeleton of claim 9 ,

Mobility system including an exoskeleton assembly releasably supported on a …
2. The system according to claim 1, wherein the exoskeleton assembly further comprises a position control motor unit associated with each of the hip and knee joints which is separable from the wheeled base together with the exoskeleton assembly, the exoskeleton assembly being movable relative to …

Exoskeleton legs to reduce fatigue during repetitive and prolonged squatting
12. The exoskeleton leg of claim 1 , wherein the locking block is semi-rigid and permits limited flexion motion of the shank link relative to the thigh link when the tooth contacts the locking face. 13. The exoskeleton leg of claim 1 , further comprising a shoe ground connector coupled to the shank …

Exoskeleton glove with finger position synchronous measurement and fingertip …
the thumb exoskeleton mechanism (600) is a two-knuckle exoskeleton mechanism, the two-knuckle exoskeleton mechanism comprises a thumb proximal knuckle exoskeleton (10), a thumb middle knuckle exoskeleton (11) and a thumb distal knuckle exoskeleton (12) which are sequentially connected, and the …

Systems and methods for a compressed controller for an active exoskeleton
What is claimed is: 1. A system to augment motion via a battery-powered active exoskeleton boot, comprising: a shin pad of an exoskeleton boot to couple to a shin of a user below a knee of the user; one or more housings enclosing i) a controller comprising memory and one or more processors, and ii) …

Exoskeleton legs for reducing fatigue during repetitive and prolonged squatting
The device of claim 1, wherein the restraining mechanism of the first exoskeleton leg is configured to transition to the restraining mode when the wearer is crouching. The device of claim 1, wherein the constraining mechanism of the first exoskeleton leg is configured to transition to the …

Exoskeleton data labeling system and method
18 . The exoskeleton network of claim 14 , wherein classification server is not directly controllable by a user that can control the exoskeleton system and user device. 19 . The exoskeleton network of claim 14 , wherein the classification server comprises one or more virtual or non-virtual servers that …

Exoskeleton
A current Cartesian coordinate vector calculation unit (51) of an exoskeleton, wherein an input of the current Cartesian coordinate vector calculation unit (51) of the exoskeleton is connected to a third input (39) of the control device (35), and an output unit is connected to a third input (39) of …

Reconfigurable exoskeleton
14. The exoskeleton of claim 10 , wherein at least one of the plurality of joint modules constitutes a spring module including a spring such that, when said spring module is mounted across a select one of the knee and hip joints, said spring stores and releases energy over a range of motion of that …

Exoskeleton and method of using the same
28. The exoskeleton of claim 27 , wherein the spinal members of the spine assembly are interconnected using telescopic internal springs, inter-vertebrae springs, and/or spherical contact load transfer. 29. The exoskeleton of claim 26 , wherein the torso section also comprises at least one pair of …

… for providing synchronized movements of a powered wheelchair and an exoskeleton
SYSTEMS AND METHODS FOR PROVIDING SYNCHRONIZED MOVEMENTS OF A POWERED WHEELCHAIR AND AN EXOSKELETON ABSTRACT Embodiments herein are directed to a system (10) that includes a powered wheelchair (12), a user-worn exoskeleton (14), and a master controller (16). The master controller (16) monitors the …

Control system for exoskeleton apparatus
, wherein the input profile comprises an interface input indication. 12. The method of claim 1 , wherein each of the movement profiles is predefined based on possible movements of the exoskeleton. 13. The method of claim 1 , wherein each of the movement profiles is predetermined based on at least one …

A kind of novel lower limb exoskeleton rehabilitation training device and …
Pass through lower limb exoskeleton height-regulating mechanism（300）Adjust lower limb exoskeleton Width adjusting mechanism（200）Relative to the height of treadbelt；It is logical Cross lower limb exoskeleton Width adjusting mechanism（200）Adjust lower limb exoskeleton（100）Relative to the right …

Adaptive exoskeleton, devices and methods for controlling the same
When the first response information is more than the threshold value, the controller does not transmit the first operation signal, exoskeleton system. The exoskeleton system of claim 3, wherein the threshold value is a critical muscle response level, and the first response information is a muscle …

Robotic exoskeleton with fall control and actuation
15. A method for preventing injury to a user of an exoskeleton, comprising: processing, by a control system, sensor data to detect an occurrence of an uncontrolled acceleration of at least a portion of the exoskeleton; responsive to the detecting, performing operations by the control system to …

Robotic finger exoskeleton
4. The finger exoskeleton of claim 2 , wherein an inner cable of the Bowden cable is fixed to the spring element. 5. The finger exoskeleton of claim 1 , wherein at least one of the plurality of joints are manufactured with additive manufacturing techniques. 6. The finger exoskeleton of claim 1 ,

Exoskeleton fitting degree evaluation system and method
a pneumatic system configured to introduce pneumatic fluid to the bellows actuators of the pneumatic leg actuator unit to independently actuate the bellows actuators, an An exoskeleton computing device, the exoskeleton computing device comprising: a plurality of sensors are arranged on the base …

A motion control method suitable for exoskeleton robot
Wherein, x cop is the ground pressure center position of the exoskeleton robot in the horizontal forward direction, x thre_cop is the preset ground pressure center position threshold of the exoskeleton robot in the horizontal forward direction, F left_crutch and F right_crutch are the ground …

Exoskeleton and proxy
Figure 1 Perspective view of exoskeleton 1000 Figure 2 Top view of exoskeleton 1000 Figures 3-5 Diagrams of different angles of the exoskeleton 1000 Figures 3-5 Diagrams of different angles of the exoskeleton 1000 Figures 3-5 Diagrams of different angles of the exoskeleton 1000 Figures 6-11 …

Strap assembly for use in an exoskeleton apparatus
An exoskeleton for a limb of a user utilizes an air bladder strap, which may be monitored and the pressure therein adjusted from time to time.

Exoskeleton, exoskeleton joint actuator and method for causing movement of …
The present application relates to an exoskeleton, an exoskeleton joint actuator and a method for causing movement of an exoskeleton. The exoskeleton includes first and second supports coupled to an exoskeleton wearer, a joint connecting the first support to the second support, and an actuator.

… and enhanced control of functional electrical stimulation in an exoskeleton …
1 . An integrated functional electrical stimulation (FES) system comprising: a hip component of a legged mobility exoskeleton device that includes the hip component, a left leg component, and a right leg component; and an FES system comprising an FES stimulator that is embedded within the hip …

A power-assisted exoskeleton robot
7. A power-assisted exoskeleton robot according to claim 5, characterized in that the torsional elastic body of the leg inside and outside the rotation comprises an adapter block (213) fixed between the two shell fixing plates (211), A rotating seat (214) is fixed at the lower end of the connecting …

Foot plate assembly for use in an exoskeleton apparatus
11. The exoskeleton of claim 8 wherein the biasing member is moveably mounted to the foot plate at a position proximate the ankle pivot axis. 12. The exoskeleton of claim 1 wherein the foot plate is sized to be received in a shoe. 13. The exoskeleton of claim 1 wherein the lower leg portion is …

Skiing exoskeleton control method and system
wherein the exoskeleton system further comprises a location device, and wherein the determining to change configuration of the one or more actuator units to the second configuration state to support the user during the user activity is based at least in part on a location of the user determined …

Low profile exoskeleton
A mobility enhancing device in the form of an exoskeleton provides mobility assistance or enhancement to a user within the exoskeleton. The exoskeleton may include a torso support and two leg supports coupled to the torso support. Each leg support may include a hip joint, a knee joint, a foot …

Admittance shaping controller for exoskeleton assistance of the lower …
3. A computer-readable medium having instructions stored therein that, when executed by one or more processors of an exoskeleton system coupled to a user, cause the one or more processors to: calculate ratios between unassisted leg movement and a desired value through natural frequencies, resonant …

Exoskeleton and method of providing an assistive torque to an arm of a wearer
11. The exoskeleton of claim 1 , further comprising a spinal column, wherein: the arm support assembly, the first link and the second link form at least a portion of a support aim; and the exoskeleton does not include a mounting bar configured to allow the support arm to be located at a plurality of …

Hip exoskeleton
1. An exoskeleton wearable on a body of a human having two legs, the exoskeleton comprising: a first HAA joint and a second HAA joint configured to assist the human with leg abduction and adduction movements at a hip of the body, wherein the leg abduction and adduction movements are parallel to a …

Self-assembling magnetic anastomosis device having an exoskeleton
5. The exoskeleton of claim 4 , wherein the polygon is selected from the group consisting of a square, a rectangle, a hexagon, and an octagon. 6. The exoskeleton of claim 1 , wherein the flanges are essentially parallel to the plane of the geometric shape when the exoskeleton is in the non-linear …

Exoskeleton for assisting human movement
a. a joint control system (8), b. a limb control system (10), c. a control system of the center of mass of the exoskeleton-user assembly (11). The exoskeleton for assisting human movement according to claim 14 characterized in that the joint control system (8) comprises an impedance control module …

Exoskeleton device
An exoskeleton device is provided herein that includes a control unit having at least one actuator. A transmission assembly operably couples the control unit to a hinged assembly. A sensor is coupled to the hinged assembly and is configured to acquire data in reference to use of the hinged assembly …

Rigid-flexible combined exoskeleton hand function rehabilitation device …
Exoskeleton thumb/index finger interphalangeal abduction actuator (201), exoskeleton index finger/middle finger interphalangeal abduction actuator (202), exoskeleton middle finger/ring finger interphalangeal abduction actuator (203), exoskeleton ring finger/little finger The interdigital abduction …

The special lower limb exoskeleton of hemiplegic patient and its using method …
3. The lower extremity exoskeleton for hemiplegic patients according to claim 2, characterized in that: the thigh bar is provided with thigh straps, the calf bar is provided with calf straps, and the upper part of the support bar is provided with There is a chest guard, and the chest guard is …

A hip exoskeleton
2. The exoskeleton of claim 1, wherein the sagittal axis mechanism is directly connected to the vertical axis mechanism and moves in coordination. 3. The exoskeleton according to claim 2, characterized in that the sagittal axis mechanism and the vertical axis mechanism are directly connected by a …

Auxiliary movement wheelchair exoskeleton device capable of realizing sitting, …
1. A movement-assisting wheelchair exoskeleton device capable of realizing sitting, standing and running three-state conversion is characterized by comprising: the device comprises two groups of oppositely arranged brackets, wherein each group of brackets comprises a walking mechanism and a lifting …

Exoskeleton cord loop-type actuator
The invention claimed is: 1. An exoskeleton comprising: a first support structure configured to be coupled to a wearer of the exoskeleton; a second support structure configured to be coupled to the wearer of the exoskeleton; a joint connecting the first and second support structures, the joint …

Torque control methods for an exoskeleton device
27. The exoskeleton system of claim 16 , wherein measuring the torque comprises measuring a strain on one or both of the first component and the second component. 28. The exoskeleton system of claim 16 , wherein controlling the motor to apply the second torque to the rotational joint by the cable …

Trunk supporting exoskeleton and method of use
claim 1 , wherein the exoskeleton comprises: first and second torque generators configured to be located on both left and right halves of the wearer, coupling the supporting trunk to the first and second thigh links respectively and configured to generate torque between the first and second thigh …

Lower limb rehabilitation exoskeleton system and master-slave adjustable joint …
The gait phase identification step identifies the current gait phase of the exoskeleton wearer based on the lower limb joint angle reference data and the lower limb joint angle data obtained in real time; The exoskeleton control step is to control the main supporting leg to maintain a generally …

A kind of hand exoskeleton device for rehabilitation training
1. a hand exoskeleton device for rehabilitation training, is characterized in that, comprises dorsal hand mechanism (1), power source (2), index finger exoskeleton (3), middle finger exoskeleton (4), ring finger exoskeleton ( 5), the little finger exoskeleton (6), the thumb exoskeleton (7), the …

Exoskeleton device with sitting support and method of operation thereof
An exoskeleton device includes a plurality of braces that are each attachable to a part of a user. A plurality of joints connects adjacent braces. Each joint is controllable to bend or unbend so as to cause the exoskeleton device to change between an erect configuration and a sitting configuration.

2. An exoskeleton as claimed in claim 1 wherein the curvature of the curved end of each leaf spring decreases or increases from top to bottom. 3. An exoskeleton as claimed in claim 1 wherein rotational dampers are provided between the said articulation mechanisms and the joints to which they are …

… and method for stroke rehabilitation using position feedback based exoskeleton …
9. A method of rehabilitation using position feedback of an impaired extremity to complete the positional movement associated with an exercise using a dual glove system having an exoskeleton glove employing both active and passive motion, the method comprising: providing the dual glove system of

Anterior or posterior exoskeleton
A first joint defining a degree of freedom corresponding to a degree of internal/external rotation of a shoulder of an operator's arm whose exoskeleton is operating; First and second support members rotatably coupled together about the first joint; An upper body exoskeleton comprising The first …

Leg exoskeleton system and method
a pneumatic system configured to introduce a pneumatic fluid into the bellows actuator of the pneumatic leg actuator unit to independently actuate the bellows actuator, and an exoskeleton computing device, the exoskeleton computing device comprising: a plurality of the sensors are arranged in a …

A lower limb rehabilitation exoskeleton system and its walking control method
3. exoskeleton system according to claim 1 or 2, which is characterized in that obtain pre-set interval and joint of lower extremity angle The step of reference data includes: Data collection steps, walking step state data of collecting sample crowd during simulating default center of gravity …

Exoskeleton body and method for applying assist torque to the wearer's arm
An exoskeleton, A first link configured to pivot about a first vertical axis in a transverse plane; A second link coupled to the first link and configured to pivot about a second vertical axis different from the first vertical axis and in a transverse plane; An arm support assembly coupled to the …

… joint motion control method based on wearable walking assisting exoskeleton
1. Lower limb joint motion control method based on wearable walking exoskeleton, The control and drive system of the wearable walking aid exoskeleton includes an upper computer, a main controller and joints, and the joints include a hip joint and a knee joint; The drive systems used by the hip …

A progressive rehabilitation training method based on exoskeleton robot
The motion auxiliary information: according to the motion auxiliary information established during kinematic modeling to define the motion auxiliary information of the exoskeleton model component in the Adams software; Then, the angle of each joint of the upper limb exoskeleton robot is obtained, …

Exoskeleton including a mechanical ankle link having two pivot axes
17. The exoskeleton according to claim 16, wherein the intermediate part is mounted on the lower leg structure and on the foot structure with passive pivot links. 18. The exoskeleton according to one of claims 16 or 17, further comprising a compression spring assembly, fixed, on the one hand, to …

Customizable orthotic/prosthetic braces and lightweight modular exoskeleton
17. The exoskeleton of claim 1 , further comprising a pair of crutches, wherein a plurality of strain gauges are mounted on the shaft of the pair of crutches. 18. The exoskeleton of claim 1 , wherein each of the hip brace, the thigh brace, and the shank brace are 3D printed. 19. The exoskeleton of

… -coupled human-machine interface system and a control method of an exoskeleton …
The method according to claim 1, Wherein the command signal interrupts operation in the exoskeleton. The method according to claim 1, Wherein the command signal increases the speed of the exoskeleton. The method according to claim 1, Wherein the command signal reduces the speed of the exoskeleton.

A kind of rehabilitation based on master slave control and exoskeleton robot of …
1. A rehabilitation and walking exoskeleton robot based on master-slave control, including a wheelchair, an exoskeleton, and a central controller, wherein The wheelchair includes an operation panel, a wheelchair motor driver and a wheelchair motor; under the control of the wheelchair motor driver, …

Arm support exoskeleton
In the arm supporting exoskeleton, Having an arm link mechanism configured to be connected to the upper arm of the person, The arm link mechanism is Proximity links, A distal link configured to rotate relative to the proximal link about a first axis of rotation; At least one arm coupler attached …

Exoskeleton robot and control method thereof
7. The method of claim 1, further comprising: checking that the first signal is received when the exoskeleton robot is in a sitting posture; setting the action as standing; and and executing the action until the exoskeleton robot is in the standing state. 8. A method for controlling an exoskeleton …

Hip joint rehabilitation exoskeleton based on multifunctional driver and motion …
4. The hip joint rehabilitation exoskeleton based on a multifunctional driver according to claim 3, characterized in that: the integrated structure is also integrated with a power supply, and the power supply is respectively connected to the lower computer single-chip microcomputer and two motor …

11. The exoskeleton according to claim 5 , wherein the axes comprise straight links that are supported in corresponding openings of the linear bearings. 12. The exoskeleton according to claim 5 , wherein the joint element is configured to be passively driven by arranging the end-effector mount so …

Reduction exoskeleton joint and exoskeleton power assisting device thereof
4. The repositioning exoskeleton joint of claim 1, wherein: the elastic energy storage mechanism is a tension spring, a pressure spring or an air push rod. 5. The repositioning exoskeleton joint of claim 4, wherein: the first end of the elastic energy storage mechanism is fixed on the first limb, a …

Exoskeleton system providing for a load transfer when a user is standing and …
10. The exoskeleton system according to claim 8 , further comprising at least one receiver to attach a counterbalance weight. 11. The exoskeleton system according to claim 10 , further comprising the counterbalance weight. 12. The exoskeleton system according to claim 8 , wherein the counterbalance …

Exoskeleton device and control system
15 . (canceled) 16 . The exoskeleton device of claim 1 , wherein the cable is connected to the lever inside a cuff that comprises an elastic element. 17 . The exoskeleton device of claim 1 , wherein the rotational joint is configured to rotate at a rotational velocity of up to 1000 degrees per second.

17. The trunk supporting exoskeleton of claim 15 , wherein the thigh loop is coupled to at least one of the first and second thigh links. 18. The trunk supporting exoskeleton of claim 14 , wherein the seat support is coupled to the supporting trunk. 19. The trunk supporting exoskeleton of claim 14 ,

Safety monitoring and control system and procedures for an exoskeleton leg …
Fig. 4 is a drawing depicting a front view of the exemplary exoskeleton device in a standing position. Fig. 5 is a drawing depicting a side view of the exemplary exoskeleton device in a standing position. Fig. 6 is a drawing depicting a rear view of the exemplary exoskeleton device in a standing …

Energy storage device for an exoskeleton
12. The leg exoskeleton of claim 1 , wherein the leg frame is a first leg frame configured for extending along a length of the user's first leg, and wherein the leg exoskeleton comprises a second leg frame configured for extending along a length of the user's second leg. 13. The leg exoskeleton of

Wearable waist assistance exoskeleton mechanism and control method thereof
2. the wearable waist assist exoskeleton mechanism of claim 1 wherein: the waist component also comprises two bottom plates (2), two first connecting plates (3), two second connecting plates (4) and a binding band (5); the back panel (1) comprises a front face in contact with the back of the wearer …

Arm supporting exoskeleton with a variable force generator
5. The arm supporting exoskeleton of claim 1 further comprising a protrusion, located substantially at the first joint, wherein the protrusion is configured to prevent the tensile force generator from passing over a first rotational axis of the first joint. 6. The arm supporting exoskeleton of

Use of a leg support exoskeleton
7. The exoskeleton leg apparatus of claim 3 , wherein the actuator is selected from the group consisting of a solenoid, a linear motor, an electric motor, a servo, a DC motors, a voice coil actuator, a piezoelectric actuator, a spring loaded solenoid, a spring loaded motor, and any combination of …

Variable stiffness lower extremity exoskeleton power assist robot
The lower extremity exoskeleton assisting robot according to claim 1, wherein the electronic control unit (200) comprises an exoskeleton main control module, a proportional valve drive amplification control module, a proportional relief valve drive amplification control module, and a motor drive.

Exoskeleton for a human being
28. The exoskeleton according to claim 25 , whereby the trajectory mimics a human anatomical movement. 29. The exoskeleton according to claim 19 , whereby one of the first part and one of the second part comprise a supporting arrangement that mimics a spine. 30. The exoskeleton according to claim 19 ,