Power assistance device

Abstract

The present invention relates to a power assistance device for assisting biomechanical function of a subject, wherein the power assistance device comprises: an actuation system adapted to be positioned at a first predetermined position on the subject, wherein the actuation system comprises a first actuator; wherein the power assistance device further comprises: a first securing point adapted to be positioned at a second predetermined position on the subject; and an elongate member, wherein a first end of the elongate member is coupled to the actuation system and a second end of the elongate member is coupled to the first securing point, and wherein, in use, actuation of the first actuator adjusts the tension of the elongate member to give biomechanical movement in the subject.

Description

POWER ASSISTANCE DEVICETECHNICAL FIELD

[0001] The present invention relates to a power assistance device, and more particularly a power assistance device for assisting biomechanical function of a subject.BACKGROUND

[0002] Ambulatory function directly impacts individuals' overall health, independence, and quality of life. Ambulatory function enables individuals to move independently and perform daily activities without assistance, facilitating independence, overall well-being and social interactions. Further, ambulatory function strengthens an individual's bones, muscles, heart and lungs. Neurological disorders such as cerebral palsy, spinal cord injury, traumatic brain injury, and the like can cause ambulatory dysfunction. Current treatments for ambulatory dysfunction include surgery, rehabilitation / physiotherapy, stretching, serial casting, task-specific training, functional electrical stimulation, and muscle injections. However, reduced limb extension (such as knee extension) often continues after treatment. Treatments focused on intense, repeated, and task-oriented activities have enhanced gait recovery in individuals with ambulatory dysfunction. Evidence suggests that exoskeletons may deliver targeted, high-intensity, task-oriented treatments, thereby improving ambulatory functions in individuals.

[0003] However, conventional exoskeletons have several disadvantages. For example, many exoskeletons incorporate human bio-signals such as electromyography (EMG) to enable the user to achieve independent control. However, EMG signals can be affected by signal-noise ratio (SNR) and artifacts. Hence, advanced signal processing and machine learning algorithms may be essential for removing the noise from the recorded signals and decoding and classifying intended movement from EMG signals. Further, conventional exoskeletons are often made of rigid structures to support a user’s weight and provide a high degree of assistance. Consequently, conventional exoskeletons are generally heavy, uncomfortable, and cumbersome. Having additional mass and less range of motion is undesirable and increases the metabolic expenditure of the user.Conventional exoskeletons are energy intensive, decreasing the lifespan of batteries attached to them. Further, conventional exoskeletons are commonly made of metal or other heavy materials, increasing manufacturing costs.

[0004] In addition, developing a customised control system for exoskeletons to meet the needs of an individual is challenging. Conventional control systems inadequately determine the level of assistance required, leading to unwanted motions of the exoskeletons. Further, while balance control is critical for the safety of exoskeletons, conventional lower limb exoskeletons do not ensure balance while standing. As such, users often require manual support (such as a walker) to maintain their equilibrium.

[0005] United States of America Patent Application No. US20220079792A1 discloses an exosuit system, wherein the exosuit system can be a suit that is worn by a wearer on the outside of his or her body. The exosuit system may be worn under the wearers normal clothing, over their clothing, between layers of clothing, or may the wearer’s primary clothing itself. The exosuit system 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.

[0006] United States of America Patent Application No. US20210387327A1 discloses a flexible exosuit including rigid and flexible elements configured to coupled forces to a body of a wearer. 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.

[0007] There remains a need to develop a soft, comfortable, lightweight exoskeleton that assists ambulatory dysfunction in users; and further, an exoskeleton that is easy to control, energy-efficient, and inexpensive to produce.

[0008] Any discussion of the prior art throughout the specification should in no way be considered as an admission that such prior art is widely known or forms part of common general knowledge in the field.SUMMARY

[0009] PROBLEMS TO BE SOLVED

[0010] It is an aim and objective of the present invention to provide an improved power assistance device, more particularly to provide an improved power assistance device for assisting biomechanical function of a subject.

[0011] It is an object of the present invention to overcome or ameliorate at least one of the disadvantages of the prior art, or to provide a useful alternative.

[0012] MEANS FOR SOLVING THE PROBLEM

[0013] In a first aspect of the present invention, there is provided a power assistance device for assisting biomechanical function of a subject, wherein the power assistance comprises: an actuation system adapted to be positioned at a first predetermined position on the subject, wherein the actuation system comprises a first actuator; wherein the power assistance device further comprises: a first securing point adapted to be positioned at a second predetermined position on the subject; andan elongate member, wherein a first end of the elongate member is coupled to the actuation system and a second end of the elongate member is coupled to the first securing point, and wherein, in use, actuation of the first actuator adjusts the tension of the elongate member to give biomechanical movement in the subject.

[0014] Preferably, the first predetermined position on the subject is a first body part and the second predetermined position on the subject is a second body part, wherein the actuation system is adapted to move the second body part of the subject about an axis of a first body joint, wherein the first body joint is positioned intermediate the first body part and the second body part of the subject.

[0015] Preferably, the first body part is positioned distal to the main body of the subject. More preferably, the first body part is a first appendage.

[0016] Preferably, the first body part is a first appendage.

[0017] Preferably, the elongate member is flexible.

[0018] Preferably, the actuation system is encapsulated. More preferably, the encapsulated actuation system has an ingress protection (IP) rating of at least IP68.

[0019] Preferably, the power assistance device further comprises: a first sensor, wherein the first sensor is adapted to determine the positioning of the second predetermined position of the subject and output signals relating to the positioning of the second predetermined position of the subject, when in use;wherein the power assistance device further comprises a controller, wherein the controller is adapted to receive and process the output signals of the sensor to adjust the tension of the elongate member and provide biomechanical movement of the subject, when in use.

[0020] Preferably, the power assistance device further comprises an inflatable device, wherein the inflatable device is adapted to inflate when impacted.

[0021] Alternately, the actuation system comprises: a driving actuation unit comprising: the first actuator; and wherein the actuation system further comprises a receiving actuation unit comprising: a second actuator, wherein a distal end of the second actuator is coupled to the first end of the elongate member, wherein the second actuator is hydraulically or pneumatically actuated by the first actuator, and wherein actuation of the second actuator provides resultant movement to the elongate member, when in use.

[0022] Preferably, the first actuator comprises a first piston; and wherein the second actuator comprises a second piston; wherein the first actuator is in fluid communication with the second actuator, and wherein actuation of the first actuator relays hydraulic or pneumatic pressure to the second actuator to provide resultant movement to the elongate member, when in use.

[0023] Alternately, the actuation system may comprise: a circular primary gear comprising: an upper surface comprising a rack; and an axle, wherein the first end of the elongate member is coupled to the axle; wherein the actuation system further comprises a first motor and a second motor, wherein each motor is rotatably engageable with the upper surface of the circular primary gear in a rack-and-pinion manner, and wherein rotation of the circular primary gear facilitates rotation of the axle to provide resultant movement to the elongate member, when in use.

[0024] Preferably, the first motor and the second motor are each positioned at an equal distance apart relative to the circumference of the circular primary gear.

[0025] Preferably, the actuation system comprises at least three motors, wherein each motor is positioned at an equal distance apart relative to the circumference of the circular primary gear.

[0026] Preferably, the elongate member is configured to be windable about the axle such that winding of the elongate member about the axle adjusts the tension of the elongate member to give biomechanical movement in the subject, when in use.

[0027] In a second aspect of the present invention, there is provided a power assistance system for assisting biomechanical function of a subject, wherein the power assistance system comprises:the power assistance device as described above, wherein the power assistance device is adapted to be wearable by the subject; and wherein the power assistance system further comprises: a decorative system adaptable to be attachable to the power assistance device.

[0028] Preferably, the decorative system is adapted to give the power assistance system the appearance of a superhero suit.

[0029] In a third aspect of the present invention, there is provided an application system adapted for use with the power assistance device as described herein.

[0030] The invention is to be interpreted with reference to the at least one of the technical problems described or affiliated with the background art. The present invention aims to solve or ameliorate at least one of the technical problems and this may result in one or more advantageous effects as defined by this specification and described in detail with reference to the preferred embodiments of the present invention.BRIEF DESCRIPTION OF THE FIGURES

[0031] Figure 1A depicts a front view of a power assistance device, wherein the power assistance device is applied to a subject. Figure IB depicts a rear view of the power assistance device, wherein the power assistance device is applied to the subject.

[0032] Figure 2A depicts an enlarged side view of an adjustment system of the power assistance device. Figure 2B depicts an enlarged front view of the adjustment system of the power assistance device as applied to the subject.

[0033] Figure 3A depicts a cross-sectional view of a first preferred adjustment system.Figure 3B depicts a cross-sectional view of a second preferred adjustment system.

[0034] Figure 4A depicts a cross-sectional view of a preferred embodiment of a first actuation system, wherein the first actuation system includes a driving actuation unit having a first actuator. Figure 4B depicts a side view of a preferred embodiment of a second actuation system, wherein the second actuation system includes a driving actuation unit having a first actuator, and a receiving actuation unit having a second actuator. Figure 4C depicts a cross-sectional view of the second actuation system.

[0035] Figure 4D depicts a preferred embodiment of a single-start screw lead mechanism. Figure 4E depicts a first preferred embodiment of a first multi-start screw lead mechanism, wherein the first multi-start lead screw mechanism is a two-start lead screw mechanism. Figure 4F depicts a second preferred embodiment of a second multistart lead screw mechanism, wherein the second multi-start lead screw mechanism is a four-start lead screw mechanism.

[0036] Figure 5A depicts a front view of a preferred embodiment of a third actuation system, wherein the third actuation system includes a circular primary motor and a motor rotatably coupled to the circular primary gear. Figure 5B depicts a side view of the third actuation system.

[0037] Figure 6 depicts a front view of the power assistance device, wherein the power is applied to the subject, and wherein the power assistance device further includes a plurality of sensors.

[0038] Figure 7 depicts a transcutaneous electrical nerve stimulation (TENS) system of the power assistance device.

[0039] Figure 8 depicts a rear view of the power assistance device, wherein the power assistance device is applied to the subject, and wherein the power assistance device further includes an inflatable device.

[0040] Figure 9 depicts a power assistance system adapted to be wearable by the subject in the form of a superhero suit.DESCRIPTION OF THE INVENTION

[0041] Preferred embodiments of the invention will now be described with reference to the accompanying drawings and non-limiting examples.

[0042] The terms “a” and “an” as used herein means one or more, or at least one.

[0043] The term “about” as used herein in relation to a numerical value means the defined numerical value plus or minus 10%.

[0044] The term “appendage” as used herein refers to a projecting part of a subject. The term “appendage” may include a body part, such as an external body part, that protrudes from a main body or body segment of the subject. For example, the term “appendage” may include a limb or an extension of the main body or a body segment of the subject. Non-limiting examples of appendages may include limbs (such as arms and legs), fingers, toes, or any other projection thereof.

[0045] The term “artificial tendon” as used herein refers to a synthetic substitute for a natural tendon. Preferably, the artificial tendon is designed and constructed to mimic the mechanical properties and functions of a natural tendon. The artificial tendons as described herein have sufficient mechanical strength, flexibility and durability.

[0046] The term “biomechanical function” as used herein refers to the mechanical forces involved in the movement and stability of a subject’s body. Biomechanical function of the subject can result from input of internal forces (such as forces produced by the movement of bones, muscles, joints, ligaments and other tissues) or input of external forces acting on the subject. Biomechanical function encompasses the interplay between the subject’s body structure, movement, and external forces.

[0047] The term “biomechanical movement” as used herein refers to the resultant physical or mechanical motion or movement of a subject’s body or a portion thereof that results from the biomechanical function of the subject.

[0048] The term “body joint” as used herein refers to a connection point or position made between bones, ossicles, or other hard structures in the body of a subject. For example, a “body joint” includes a point where two bones make contact. Body joints may facilitate movement and provide stability to the skeleton system of the subject. The term “body joint” may include fibrous joints, cartilaginous joints, and synovial joints in the subject.

[0049] The terms “comprise”, “comprising” and the like are to be construed in their inclusive, as opposed to their exclusive, sense, that is in the sense of “including, but not limited to”.

[0050] The term “controller” as used herein refers to a component or system of the power assistance device as described herein that is responsible for monitoring, interpreting and / or responding to output signals from a sensor to control the functionality of the power assistance device or a component of the power assistance device thereof. The controller may function as an intermediary between the subject and the power assistance device, facilitating real-time interaction and adaptive response based on user or subject input and environmental or external conditions.

[0051] The terms “exosuit” and “exoskeleton” as used herein refer to a wearable device that is adapted and configured to enhance the strength, endurance and / or mobility of a subject wearing the device. Exosuits and exoskeletons are typically worn externally over the subject’s body and may provide mechanical assistance to the subject to support or augment the subject’s movement. Unless otherwise specified, the terms “exosuit” and “exoskeleton” are used interchangeably throughout this disclosure.

[0052] The term “neurological disorder” as used herein refers to disorders of the central nervous system and peripheral nervous system of the subject. The terms “neurological disorder”, “neurological disease” and “neurological condition”, unless otherwise specified, are used interchangeably throughout this disclosure. The term “central nervous system (CNS) disorders” as used herein refers to disorders that affect the central nervous system of the subject, more particularly that affect the structure or function of the brain or the spinal cord of the subject. Non-limiting examples of CNS disorders may include astroke, Traumatic Brain Injury (TBI), Epilepsy, Parkinson’s Disease, Alzheimer’s Disease, Multiple Sclerosis (MS), Huntington’s Disease, Cerebral Palsy, Meningitis, and Encephalitis.

[0053] The term “neuromuscular disorder” as used herein refers to disorders that affect the peripheral nervous system, the neuromuscular junctions, and / or skeletal muscles of the subject. Neuromuscular disorders involve injury or dysfunction of peripheral nerves or muscles of a subject. The terms “neuromuscular disorder”, “neuromuscular disease” and “neuromuscular condition”, unless otherwise specified, are used interchangeably in this disclosure. Non-limiting examples of neuromuscular disorders may include Amyotrophic Lateral Sclerosis (ALS), Multiple Sclerosis (MS), Muscular Dystrophy (MD), Spinal Muscular Atrophy (SMA), Myasthenia Gravis (MG), Charcot-Marie-Tooth Disease (CMT), Guillain-Barre Syndrome (GBS), Friedreich's Ataxia, Peripheral Neuropathy, and ALS-Parkinsonism-Dementia Comples (ALS-PDC).

[0054] The term “power assistance device” as used herein refers to a device adapted and configured to be applied or fitted to a subject. The power assistance device as described herein is adapted and configured to assist biomechanical function of the subject. The power assistance device as described herein may be adapted and configured to be applied to the subject’s body or a portion of the subject’s body thereof.

[0055] The term “sensor” as used herein refers to a device that is configured and adapted to measure and / or detect a physical parameter related to a subject’s body, movements, and / or the surrounding environment. Non-limiting examples of sensors may include force sensors (such as load cells), strain or displacement sensors ( such as capacitive sensors, lasers or ultrasonic rangefinders, linear encoders, rotary encoders on rotary elements of rotatory-to-linear transducers or transmissions), angle sensors or inertial measurement unit (IMU) sensors (such as magnets, magnetometers, accelerometers, and / or gyroscopes), temperature sensors, electroencephalogram (EEG) sensors, electromyography (EMG) sensors, electrocardiogram (ECG) sensors, pulse sensors, blood pressure sensors, galvanic skin response sensors, humidity sensors, chemicalsensors, ionizing radiation sensors, camera, proximity sensors, heart rate sensors, or any other suitable sensor, or any combination thereof.

[0056] The term “subject” as used herein may include any living organism that may be fitted with the power assistance device as described herein. As such, the term “subject” may include, without limitation, any non-human mammal, primate, or human. In some embodiments, the term “subject” may be bovine, an ovine, a canine, a caprine, an equine, a feline, a porcine, a rodent, or a human. Preferably, the term “subject” may be a bipedal mammal. Preferably, the term “subject” may be a human. Preferably, the human subject is a child or an adolescent. More preferably, the human subject may be a child or an adolescent aged between about 3 years to about 18 years. Alternately, the human subject may be an adult. Preferably, the human subject may be an adult aged 18 years or over.

[0057] The term “superhero accessory” as used herein may include any accessory or decorative component that is characteristic of a superhero suit. Non-limiting examples of suitable superhero components may include a belt, a mask, a glove, a symbol or emblem, a boot, a gadget, or any combination thereof. The term “superhero suit” as used herein may refer to a power assistance system as described herein including at least one superhero accessory, wherein the power assistance system is adapted to be wearable by the subject. Alternately, the term “superhero suit” may include a power assistance device as described herein adaptable to be attachable to at least one superhero accessory, wherein the power assistance device is adapted to be wearable by the subject. Preferably, the term “superhero suit” refers to the power assistance system as described herein, wherein the power assistance system includes at least two superhero accessories and is adapted to be wearable by the subject.

[0058] The term “symptom” as used herein refers to a phenomenon that arises from and accompanies a particular condition, disease, or disorder and serves as an indication of it.

[0059] The term “target muscle” as described herein may refer to a specific muscle or muscle group of a subject that the power assistance device, or a component thereof, is adapted to be positioned at, to assist, to augment, and / or to support. The term “targetmuscle” may include a selected muscle or muscle group at a predetermined position on the subject that a component of the power assistance device is adapted to support or be fitted to. In some examples, the term “target muscle” includes the specific muscle or muscle group of the subject that the power assistance device is adapted to assist, augment, and / or support to provide resultant biomechanical movement in the subject. Persons skilled in the art would readily understand that the target muscle may depend on the desired or intended biomechanical movement of the subject. For example, in embodiments wherein the desired or intended biomechanical movement of the subject relates to walking or standing, the target muscle may include a lower body muscle of the subject such as (without limitation) the subject’s quadriceps, hamstrings, gluteal muscles, and / or calf muscles. Alternately, in embodiments wherein the desired or intended biomechanical movement of the subject relates to lifting or upper body extensions, the target muscle(s) of the subject may include the biceps, triceps, deltoid muscles, and / or forearm muscles.

[0060] The term “target body part” as used herein may refer to a specific body part of the subject that the power assistance device, or a component thereof, is adapted to be positioned at, to assist, to augment, and / or to support. The term “target body part” may include a body part at a predetermined position on the subject that a component of the power assistance device is adapted to support or be fitted to. In some examples, the term “target body part” includes a specific or predetermined body part of the subject that the power assistance device is adapted to assist, augment, and / or support to provide resultant biomechanical movement in the subject.

[0061] A first preferred embodiment of the present invention is shown in Figures 1 to 9. Referring to Figure 1, there is provided a power assistance device 1. The power assistance 1 device is suitable for use in assisting biomechanical function of a subject 2. The power assistance device 1 includes an actuation system 3 adapted to be positioned at a first predetermined position 4 on the subject 2, wherein the actuation system 3 includes an actuator 5. The power assistance device 1 further includes a first securing point 6 adapted to be positioned at a second predetermined position 7 on the subject 2. Thepower assistance device 1 further includes an elongate member 8. A first end 8 A of the elongate member 8 is coupled to the actuation system 3 and a second end 8B of the elongate member 8 is coupled to the first securing point 6. In use, actuation of the actuator 5 adjusts the tension of the elongate member 8 to give biomechanical movement in the subject 2.

[0062] Referring to Figure 1 , the elongate member 8 has a length that defines a distance between the actuation system 3 and the first securing point 6 of the power assistance device 1. When the power assistance device is applied to the subject 2, the elongate member 8 has a length adapted to define a distance between the first predetermined position 4 on the subject 2 and the second predetermined position 7 on the subject 2. Preferably, the first predetermined position 4 is adapted to be positioned on a first body part 9 of the subject 2, and the second predetermined position 7 is adapted to be positioned on a second body part 10 of the subject 2. The second body part 10 of the subject 2 may be distal to the first body part 9 of the subject 2. Preferably, the elongate member 8 may be adapted to extend across a body joint positioned intermediate to the first body part 9 and the second body part 10 of the subject 2. Preferably, the first predetermined position 4 is adapted to be posteriorly positioned on the subject 2.Preferably, the second predetermined position 7 is adapted to be posteriorly positioned on the subject 2. Preferably, the first predetermined position 4 and the second predetermined position 7 are each adapted to be positioned posteriorly on the subject 2 such that the elongate member 8 is adapted to extend from the first body part 9 across an intermediate first body joint 11 to the second body part 10 of the subject 2. Embodiments wherein the first predetermined position is adapted to be positioned posteriorly relative to the subject may ensure that the actuation system and positioning of the elongate member relative to the subject aligns with the natural anatomical axis of rotation of the first body joint, and further may reduce interference with the subject’s movement. This may minimise the risk of collisions or entanglement between the elongate member, the actuation system, and the subject’s body, when in use. Such configuration and positioning of the actuation system may also permit more natural and unimpeded movement and rotation of the first body joint, enhancing the subject’s comfort and safety.

[0063] Referring to Figure IB, the first predetermined position 4 on the subject 2 may be adapted to be positioned on a leg muscle of the subject 2. Preferably, the leg muscle is an upper leg muscle of the subject 2, more preferably the leg muscle is a hamstring muscle of the subject 2. The first predetermined position 4 may be adapted to be positioned intermediate to an adjacent knee joint and an adjacent hip joint of the subject 2. The second predetermined position 7 may be adapted to be positioned on a lower leg muscle of the subject 2. Preferably, the lower leg muscle may be a calf muscle of the subject 2. The second predetermined position 7 may be adapted to be positioned intermediate to an adjacent ankle joint and the adjacent knee joint of the subject 2. When the power assistance device is applied to the subject 2, the elongate member 8 defines the distance between the first predetermined position 4 and the second predetermined position 7 such that the elongate member 8 extends posteriorly across the knee joint of the subject 2. By way of example, actuation of the actuation system 3 may selectively adjust the tension of the elongate member 8 relative to the first predetermined position 4 and the second predetermined position 7 to facilitate extension and / or flexion of the subject’s knee joint, when in use. Preferably, the first predetermined position 4 may be adapted to be positioned posterior to the lower body joint of the subject 2. In use, actuation of the actuation system 3 may be adapted to move the first lower body part of the subject 2 about an axis of the lower body joint of the subject 2.

[0064] In an alternate embodiment and still referring to Figure IB, the first predetermined position 4 may be adapted to be positioned on an upper arm muscle of the subject 2, wherein the first predetermined position 4 may be adapted to be positioned intermediate to an adjacent elbow joint and a shoulder joint of the subject 2. The second predetermined position 7 may be adapted to be positioned on a lower arm muscle of the subject 2, wherein the second predetermined position 7 may be adapted to be positioned intermediate to an adjacent wrist joint and the adjacent elbow joint. In an assembled configuration, the elongate member 8 defines the distance between the first predetermined position 4 and the second predetermined position 7 such that the elongate member 8 extends across the elbow joint of the subject 2. By way of example, actuation of the actuation system 3 may selectively adjust the tension of the elongate member 8relative to the first predetermined position 4 and the second predetermined position 7 to facilitate extension and / or flexion of the subject’s elbow joint, when in use.

[0065] It is to be appreciated that the first predetermined position 4 on the subject may be any suitable first body part 9 of the subject. By way of a non-limiting example, the first predetermined position 4 may be adapted to be positioned on a lower body part or a lower body portion of the subject 2. Non-limiting examples of suitable lower body parts or lower body portions may include a lower body appendage (such as a leg, a foot, or a toe) or a lower portion of the torso or main body of the subject 2. Preferably, the first predetermined position 4 may be adapted to be positioned above the lower body joint of the subject 2. For example, the first predetermined position 4 may be adapted to be positioned at a first muscle 4A of the subject 2, wherein the first muscle 4 A proximal to the lower body joint relative to the main body or torso of the subject 2. Preferably, the first predetermined position 4 is adapted to be positioned at the first muscle 4A, wherein the first muscle 4A is positioned proximal to the lower body joint relative to the main body or torso of the subject 2, and the second predetermined position 7 is adapted to be positioned at a second muscle 7A of the subject 2, wherein the second muscle 7A is positioned distal to the lower body joint such that the elongate member 8 extends longitudinally across the lower body joint, when in use. Non-limiting examples of lower body joints of the subject 2 may include a hip joint, a knee joint, an ankle joint, a subtalar joint, a tarsal joint, a metatarsophalangeal joint, or an interphalangeal joint.

[0066] Alternately and by way of a non-limiting example, the first predetermined position 4 may be adapted to be positioned on an upper body part or an upper body portion of the subject 2. Non-limiting examples of suitable upper body parts or upper body portions may include an upper body appendage (such as an arm, a hand, or a finger) or an upper portion of the torso or main body of the subject 2. Preferably, the first predetermined position 4 may be adapted to be positioned above the upper body joint of the subject 2. For example, the first predetermined position 4 may be adapted to be positioned at a third muscle of the subject, wherein the third muscle proximal to the upper body joint relative to the main body or torso of the subject 2. Preferably, the firstpredetermined position 4 is adapted to be positioned at the third muscle, wherein the third muscle is positioned proximal to the upper body joint relative to the main body or torso of the subject 2, and the second predetermined position 7 is adapted to be positioned at a fourth muscle of the subject, wherein the fourth muscle is positioned distal to the upper body joint such that the elongate member 8 extends longitudinally across the upper body joint, when in use. Non-limiting examples of upper body joints of the subject 2 may include a shoulder joint, an elbow joint, a wrist joint, a carpometacarpal joint, a metacarpophalangeal joint, and an interphalangeal joint.

[0067] Still referring to Figure 1 and by way of a non-limiting example, the first predetermined position 4 may be adapted to be positioned posteriorly on a thigh muscle of the subject 2, and more preferably, a hamstring muscle of the subject 2. The second predetermined position 7 is adapted to be positioned on a distal lower leg muscle of the subject 2 relative to the thigh muscle at the first predetermined position 4. Preferably, the distal lower leg muscle is a calf muscle of the subject 2. When the power assistance device is applied to the subject 2, the elongate member 8 extends posteriorly from the hamstring muscle across an adjacent knee joint to the calf muscle of the subject 2. In use, actuation of the actuation system 3 may selectively adjust the tension of the elongate member 8 to facilitate extension and flexion of the knee joint of the subject 2.

[0068] Preferably, the elongate member 8 may be adapted (such as by way of shape, size, and material) to functionally and mechanically resemble a tendon. Preferably, the elongate member 8 is configured and adapted to be an artificial tendon. The elongate member 8 may be constructed of any suitable material. Preferably, the elongate member 8 is constructed of one or more materials that are sufficiently lightweight, flexible, resilient, or durable, or any combination thereof. Non-limiting examples of suitable materials may include any one or more of:

[0069] Polyethylene Terephthalate (PET): PET is a synthetic polymer that is biocompatible and has desirable mechanical properties. PET can be fabricated into fibers or braids to create an elongate member 8 as described herein with high tensile strength and flexibility.

[0070] Polyethylene (PE): PE is a synthetic polymer that is suitable for use as an elongate member 8 as described. PE offers good mechanical properties, including high strength and resistance to wear and tear.

[0071] Carbon Fiber: Carbon fiber is a lightweight and high-strength material that is suitable for use as an elongate member as described herein. Carbon fiber offers excellent mechanical properties including high flexibility and durability.

[0072] Polypropylene (PP): PP is a versatile thermoplastic polymer with good mechanical properties, including high tensile strength. PP may provide structural support and stability for the elongate member as described herein.

[0073] Nylon: Nylon has excellent tensile strength, making it suitable for use in constructing the elongate member as described herein. For example, elongate members constructed of nylon may withstand heavy loads and forces without breaking or stretching excessively.

[0074] It is to be appreciated that the elongate member may be made from any suitable material, such as (and without limitation) any suitable synthetic polymer and that the examples shown and described herein are by way of non-limiting examples only.

[0075] The elongate member 8 as described herein provides several advantages. For example, the elongate member 8 may enhance the comfort and flexibility of the power assistance device when in use and allows the power assistance device to be easily formable to the subject’s body, providing a more comfortable and adaptable power assistance device and enabling the subject to move more freely than conventional rigid exosuits. Further, the elongate member helps preserve the subject’s natural range of motion and joint flexibility, when in use.

[0076] In a preferred embodiment, the length of the elongate member 8 may be adapted to be adjustable such that the power assistance device 1 may be readily fitted to a variety of different shaped and sized subjects. For example, the elongate member 8 may beadapted to be pretensioned across the distance between the first predetermined position 4 and the second predetermined position 7 of the subject 2, when in use. Referring to Figures 2 to 3, the first securing point 6 of the power assistance device 1 may further include an adjustment system 12. The adjustment system 12 may be adapted to adjust the length of the elongate member 8. For example, the adjustment system 12 may be adapted to enable the elongate member 8 to be pretensioned, when in use. Referring to Figure 3, the adjustment system 12 may include a first housing 13, wherein the first housing 13 includes a shaft 14 that extends the transverse axis of the first housing 13. The first end 8A of the elongate member 8 may be coupled to the actuation system 3 and a second end 8B of the elongate member 8 may be rotatably coupled to the shaft 14 such that rotation of the shaft in a first direction causes the elongate member 8 to wind about the shaft to shorten the length of (or pretension) the elongate member 8, when in use. Rotation of the shaft 14 may be controlled using any suitable mechanism, as would be readily understood by persons skilled in the art. Further, the elongate member may be adapted to have a variety of different sizes (such as by width and thickness) to modify the amount of assistance provided by the elongate member.

[0077] By way of a non-limiting example, and referring to Figure 3A, the rotation of the shaft (not shown) may be adapted to be manually controlled. A distal end of a first shaft may extend to an outer face 13A of the first housing 13. The distal end of the first shaft may be coupled or mounted to a handle 15 such that the handle 15 is positioned on the outer face 13A of the first housing 13. Preferably, the handle 15 may be mounted or coupled directly to the distal end of the first shaft. More preferably, the handle 15 may be adapted in shape, size and position relative to the outer face 13A of the first housing 13 such that the handle 15 sits flush with the outer face 13 A of the housing 13. In use, manual rotation of the handle 15 in a first direction may facilitate corresponding rotation of the first shaft in the first direction thereby causing the elongate member 8 to wind about the shaft to thereby shorten the length of the elongate member 8. In use, manual rotation of the handle 15 in a second opposing direction may facilitate corresponding rotation of the first shaft in the second direction thereby causing the elongate member 8 to unwind from about the shaft to thereby lengthen the elongate member 8.

[0078] In an alternate non-limiting example and referring to Figure 3B, rotation of the shaft may be adapted to be motorised or electrically controller. In this example, the first housing 13 may include a second shaft 14A that extends the length of the first housing 13. A circular ratchet gear 16 may be mounted to the second shaft 14A such that rotation of the second shaft 14A facilitates the corresponding rotation of the circular ratchet gear 16. A plurality of teeth 17 may extend around the circumference of the circular ratchet gear 16. Preferably, each tooth of the plurality of teeth 17 may have an asymmetric configuration, more preferably a sloped or angular configuration. Preferably, a first face 17A of each tooth may have a sloped or angled configuration and a second face 17B of each tooth may have a planar configuration, wherein the planar configuration may be substantially perpendicular to the axis of rotation of the circular ratchet gear 16. The first housing may further include a lever 18 positioned adjacent to the plurality of teeth 17, wherein the lever 18 may be configured and adapted in shape, size and position to selectively engage with the first face 17 A of a tooth of the plurality of teeth 17 or the second face 17B of a tooth of the plurality of teeth 17. Preferably, the lever 18 is a moveable lever. More preferably, the lever 18 is a pawl. In an open configuration, the lever 18 may engage with the first face 17A of each tooth of the plurality of teeth 17, allowing the circular ratchet gear 16 to freely rotate in the first forward direction thereby causing the elongate member 8 to wind about the axis of the second shaft 14A, when in use. Such rotation may allow the elongate member 8 to be controllably shortened to a desired length. To fix the elongate member 8 at a desired length, the circular ratchet gear 16 may be locked in a closed configuration. In a closed configuration, the lever 18 may engage with the second face 17B of a tooth of the plurality of teeth 17 to lock the circular ratchet gear 16 at a fixed rotation position thereby preventing rotation of the circular ratchet gear 16. The ratchet gear mechanism as described herein may advantageously allow for incremental adjustment to the length of the elongate member 8. It is to be appreciated that the adjustment system 12 may include any suitable mechanism that allows for the adjustment to the length of the elongate member 8 and that the examples shown and described herein are by way of non-limiting examples only. It is to be appreciated that the motorised or electric rotation of the second shaft 14A may be controlled using any suitable mechanism or technique (such as an electronic controller orany other suitable controller thereof), as would be readily understood by persons skilled in the art.

[0079] Selective adjustment to the length of the elongate member 8 may advantageously allow the power assistance device 1 to be readily fitted or applied to a variety of different shaped and sized subjects. For example, the elongate member 8 has a length that defines the distance between the actuation system 3 at the first predetermined position 4 on the subject 2 and the first securing point 6 at the second predetermined position 7 on the subject 2. It is to be appreciated that the relative distance between the first predetermined position 4 on the subject 2 and the second predetermined position 7 on the subject may vary depending on the relative size (such as height and weight) and age of the subject. The adjustment system 12 advantageously allows the relative length of the elongate member 8 to be adjusted as necessary, thereby enabling the power assistance device 1 to be fitted and applied to any suitable subject.

[0080] Further, selective adjustment of the elongate member 8 may allow for pretensioning of the elongate member. Pre-tensioning of the elongate member may be useful for correcting muscle misalignment in the subject and / or for promoting muscle alignment in the subject. By way of non-limiting examples, the subject may have a condition or disease that may result in muscle misalignment(s). Persons skilled in the art readily understand that muscle misalignment may result from various conditions or diseases affecting the neuromuscular system, musculoskeletal structure, or soft tissues of the subject. In some embodiments, the subject may have a condition or disease affecting the neuromuscular system, musculoskeletal structure, or soft tissues. In some embodiments, the subject may have a neuromuscular disease or condition. Non-limiting examples of neuromuscular diseases may include Amyotrophic Lateral Sclerosis (ALS), Muscular Dystrophy (MD), Spinal Muscular Atrophy (SMA), Myasthenia Gravis (MG), Charcot- Marie-Tooth Disease (CMT), Friedreich's Ataxia, and Amyotonia Congenita. By way of a non-limiting example, when the power assistance device is applied to the subject, the elongate member may be pre-tensioned to increase a baseline tension of the elongate member relative to the first predetermined position and the second predeterminedposition on the power assistance device. In use, increasing the baseline tension of the elongate member may provide stabilising and assistive mechanical forces on a target body muscle of the subject, thereby promoting muscle alignment. It is to be appreciated that the baseline tension as used herein refers to an initial tension of the elongate member when the power assistance device is applied to the subject, and before the tension of the elongate member is adjusted by actuation of the actuation system.

[0081] Referring to Figures 4 to 5, preferred embodiments of an actuation system 3 are shown. Preferably, the actuation system may be encapsulated (not shown). Preferably, the encapsulated actuation system achieves an ingress protection (IP) rating of at least about IP68. For example, the actuation system may be encapsulated within an enclosure. Preferably, the enclosure may be constructed of one or more materials that provide a barrier against dust, water, or other contaminants, or any combination thereof. Preferably, the enclosure may be constructed of one or more materials that are sufficiently flexible, robust, or a combination thereof. More preferably, the enclosure may be constructed of one or more materials that are sufficiently flexible, robust, or a combination thereof, and that protect the actuation system from external elements such as dust, dirt, water, and debris. Encapsulating the actuation system may increase the overall lifespan of the actuation system. For example, the encapsulated actuation system may be more resilient to mechanical impacts, abrasion, and wear and tear. This may enhance the actuation system’s durability, thereby reducing the risk of damage during high-impact movements or instances where the subject may fall. Further, encapsulating the actuation system may enhance user safety by minimising the risk of electrical or mechanical failures due to exposure to external elements. Preferably, the enclosure encapsulating the actuation system is constructed of a durable and flexible material which may enhance the comfort of the subject, when in use. Non-limiting examples of suitable materials may include:

[0082] Silicone rubber: silicone rubber is a highly flexible and soft material that may provide excellent waterproofing properties. Silicon rubber may be molded or extruded into various shapes and sizes to suit a variety of different actuation systems. TPU can beheat-sealed or welded to create watertight seams and closures, making it suitable for applications requiring flexibility and waterproofing.

[0083] Thermoplastic polyurethane (TPU): TPU is a flexible and resilient polymer that exhibits good waterproofing properties.

[0084] Referring to Figure 4A, a first preferred embodiment of a first actuation system 3A is shown. The first actuation system 3A may include a first driving actuation unit 19, wherein the first driving actuation unit 19 includes an actuator 5A. A distal end of the first driving actuation unit 19 may be coupled to the first end 8 A of the elongate member 8, wherein actuation of the actuator 5 A provides resultant movement to the elongate member 8, when in use. Preferably, the actuator 5A is a linear actuator. The first driving actuation unit 19 includes a motor 20 having a motor shaft 21. The first driving actuation unit 19 further includes a lead screw assembly 22, wherein the lead screw assembly 22 is positioned distal to the motor shaft 21. The lead screw assembly 22 includes a second housing 23, a first threaded rod 24, and a first threaded nut 25. The first threaded rod 24 may include a helical groove along its length, wherein the first threaded rod 24 extends along the longitudinal axis of the second housing 23. The first threaded nut 25 threadably engages with the helical groove of the first threaded rod 24. In use, the first threaded nut 25 is moveable along the longitudinal axis of the first threaded rod 24, as the first threaded rod 24 rotates. A first end of the first threaded rod 24 is rotatably coupled to motor shaft 21 and the first end 8 A of the elongate member 8 is coupled to the first threaded nut 25. It is to be appreciated that the first threaded rod 24 may be directly or indirectly coupled to the motor shaft 21, as would be readily understood by persons skilled in the art. In use, rotation of the motor shaft 21 causes rotation of the first threaded rod 24 about its longitudinal axis thereby causing the first threaded nut 25 to move along the longitudinal axis of the first threaded rod 24 providing resultant movement of the elongate member 8 coupled thereto, when in use. For example, rotation of the first threaded rod 24 in a first direction may cause the first threaded nut 25 to move upwardly along the longitudinal axis of the first threaded rod 24 thereby pulling and causing tension on the elongate member 8, when in use. Rotation of the first threaded rod 24 in asecond opposing direction may cause the first threaded nut 25 to move downwardly along the longitudinal axis of the first threaded rod 24 thereby relaxing the tension of the elongate member 8, when in use.

[0085] In an alternate embodiment (not shown), the first driving actuation unit may further include a first gear rotatably engageable with the motor. The motor shaft of the motor may be coupled to an input shaft of the first gear, and an output shaft of the first gear may be coupled to the first threaded rod. In use, rotation of the motor may facilitate rotation of the first gear thereby facilitating rotation of the first threaded rod about its longitudinal axis. It is to be appreciated that the motor shaft may be directly or indirectly coupled to the input shaft of the first gear and the output shaft of the first gear may be directly or indirectly coupled to the first threaded rod, as would be readily understood by persons skilled in the art. To calculate the relationship between the motor torque and the output force of the motor, the following equation can be used:

[0086] Where T is torque, F is force, Dmis pitch diameter, L is pitch, and p is the coefficient of friction.

[0087] Referring to Figures 4B to 4C, a second preferred embodiment of a second actuation system 3B is shown. The second actuation system 3B includes a second driving actuation unit 26 and a receiving actuation unit 27. The second driving actuation unit 26 includes a first actuator 28 and the receiving actuation unit 27 includes a second actuator 29, wherein a distal end of the second actuator 29 may be coupled to the first end 8A of the elongate member 8. Preferably, the distal end of the first actuator 28 may be in fluid communication with a first end 37A of a conduit 37, and a second end 37B of the conduit 37 may be in fluid communication with the first end of the second actuator 29. In use, the second actuator 29 may be actuated by the first actuator 28, wherein actuation of thesecond actuator 29 may provide resultant movement to the elongate member 8. Preferably, the first actuator 28 may be a linear actuator. More preferably, the first actuator 28 may be a hydraulic or pneumatic actuator. Preferably, the second actuator 29 may be a linear actuator. More preferably, the second actuator 29 may be a hydraulic or pneumatic actuator. Preferably, the second actuator 29 may be hydraulically or pneumatically actuated by the first actuator 28. Preferably, the first actuator 28 includes a first piston 30, and the second actuator 29 includes a second piston 31. The first actuator 28 may be in fluid communication with the second actuator 29, wherein actuation of the first actuator 28 relays hydraulic or pneumatic pressure to the second actuator 29 to provide resultant movement to the elongate member 8, when in use.

[0088] In a preferred embodiment, the second driving actuation unit 26 may include a motor 20 having a motor shaft 21. The second driving actuation unit 26 may further include a first piston assembly 32 positioned distal to the motor shaft 21. The first piston assembly 32 may include a first cylinder 33, a first piston 30 housed within the first cylinder 33, and hydraulic fluid or compressed air housed within the first cylinder 33. The motor shaft 21 may be rotatably coupled to a second threaded rod 34, wherein the second threaded rod 34 extends into the first cylinder 33 of the first piston assembly 32. In use, rotation of the motor shaft 21 facilitates rotation of the second threaded rod 34 about the longitudinal axis of the first cylinder 33 of the first piston assembly 32. It is to be appreciated that the motor shaft 21 may be directly or indirectly coupled to the second threaded rod 34, as would be readily understood by persons skilled in the art.

[0089] In an alternate embodiment and as shown in Figures 4B to 4C, the second driving actuation unit 26 may include a second gear 35 rotatably engageable with the motor 20. The motor shaft 21 of the motor 20 may be coupled to an input shaft of the second gear 35, and an output shaft of the second gear 35 may be coupled to the second threaded rod 34, wherein the second threaded rod 34 may extend into the first cylinder 33 of the first piston assembly 32. In use, rotation of the motor 20 facilitates rotation of the second gear 35 thereby facilitating rotation of the second threaded rod 34 about the longitudinal axis of the first cylinder 33 of the first piston assembly 32. It is to be appreciated that themotor shaft 21 may be directly or indirectly coupled to the input shaft of the second gear 35, and the output shaft of the second gear 35 may be directly or indirectly coupled to the threaded rod, as would be readily understood by persons skilled in the art.

[0090] Still referring to Figures 4B to 4C, the first piston assembly 32 may further include a nut 36 mounted to the first piston 30, wherein the nut 36 is configured to threadably engage with the second threaded rod 34. For example, an inner face of the nut 36 may include a first set of threads, wherein the first set of threads may threadably engage with a complementary second set of threads disposed around an outer face of the threaded rod. It is to be appreciated that the nut 36 may be a threaded sleeve. In use, rotation of the second threaded rod 34 causes directional movement of the nut 36 along the longitudinal axis of the second threaded rod 34, thereby causing the first piston 30 to move directionally along the first cylinder’s longitudinal axis.

[0091] Still referring to Figures 4B to 4C, the first actuator 28 may be adapted to be in fluid communication with the second actuator 29. Preferably, a distal end of the second driving actuation unit 26 may be in fluid communication with a proximal end of the receiving actuation unit 27. The receiving actuation unit 27 includes a second piston assembly 38, wherein the second piston assembly 38 includes a second cylinder 39 and the second piston 31 housed within the second cylinder 39. Preferably, a distal end of the second piston 31 is coupled to the first end 8A of the elongate member 8 such that actuation of the second piston assembly 38 provides resultant movement to the elongate member 8. Preferably, the first end 37 A of the conduit 37 is in fluid communication with a distal end of the first piston assembly 32 and the second end 37B of the conduit 37 is in fluid communication with a proximal end of the second piston assembly 38 such that actuation of the second driving actuation unit 26 relays hydraulic or pneumatic pressure from the first piston assembly 32 through the conduit 37 to the second piston assembly 38 to provide resultant movement to the elongate member 8.

[0092] Preferably, the second driving actuation unit 26 has a substantially flat or planar configuration. Preferably, the receiving actuation unit 27 has a substantially flat or planar configuration. Embodiments wherein the driving actuation unit and / or receiving actuationunit 27 are configured to have a substantially flat or planar configuration may allow for each respective unit to be easily fitted to the power assistance device and the subject, and may increase comfort for the subject.

[0093] By way of example and still referring to Figures 4B to 4C, to reduce the tension of the elongate member 8, the motor 20 of the second driving actuation unit 26 may be activated to cause rotation of the motor shaft 21 in a first direction, thereby causing the second threaded rod 34 to rotate in the first direction. Rotation of the second threaded rod 34 in the first direction causes the nut 36 mounted thereto to rotate about the longitudinal axis of the threaded rod which, in turn, causes downward actuation of the first piston 30 relative to the longitudinal axis of the first cylinder 33, when in use. Downward actuation of the first piston 30 relays the hydraulic or pneumatic pressure from the first cylinder 33 to the second cylinder 39 which, in turn, causes downward actuation of the second piston 31 relative to the second cylinder 39. Downard actuation of the second piston 31 reduces the tension and length of the elongate member 8 relative to the first securing point 6 of the power assistance device 1 which, in turn, may cause extension of the first body part 9 of the subject, when in use.

[0094] To calculate the relationship between the motor torque and the output force of the motor 20, the following equation can be used:

[0095] Where F is force, A is the area of each respective cylinder, and V is velocity.

[0096] By way of a non-limiting example, in use, to facilitate flexion of a body joint positioned intermediate to the first body part and the second body part of the subject, themotor of the driving actuation unit may be activated causing rotation of the motor shaft in a first direction. Rotation of the motor shaft in the first direction may cause the second threaded rod to rotate in a corresponding first direction about the longitudinal axis of the first cylinder of the first piston assembly. Rotation of the second threaded rod in the first direction causes the first piston mounted thereto to directionally move upwards along the longitudinal axis of the first cylinder, thereby suctioning the hydraulic or pneumatic pressure and causing the hydraulic or pneumatic pressure to relay from the second cylinder through the conduit and into the first cylinder of the first piston assembly. In use, the relay of hydraulic or pneumatic pressure directionally pulls the second piston upwards along the longitudinal axis of the second cylinder which, in turn, increases the tension of the elongate member coupled thereto. When the power assistance device is applied to the subject, increasing the tension of the elongate member reduces the distance between the first body part and the second body part of the subject, thereby causing flexion of the intermediate body joint of the subject, when in use.

[0097] In use, to facilitate retraction of the body joint, the motor of the driving actuation unit may be activated causing rotation of the motor shaft in a second opposing direction. Rotation of the motor shaft in the second opposing direction may cause the second threaded rod to rotate in a corresponding second direction about the longitudinal axis of the second cylinder of the first piston assembly. Rotation of the second threaded rod in the second direction causes the second piston mounted thereto to directionally move downwards along the longitudinal axis of the first cylinder, thereby displacing the hydraulic or pneumatic pressure from the first piston assembly, causing the relay of the hydraulic or pneumatic pressure from the first cylinder through the conduit and into the second cylinder of the second cylinder assembly. In use, the relay of hydraulic or pneumatic pressure directionally pushes the second piston downwards along the longitudinal axis of the second cylinder which, in turn, reduces the tension of the elongate member coupled thereto. When the power assistance device is applied to the subject, reducing the tension of the elongate member increases the distance between the first body part and the second body part of the subject, thereby facilitating extension of the intermediate body joint of the subject, when in use.

[0098] It is to be appreciated that the actuation units, more preferably, the first actuation unit, as described herein may be configured in a variety of different ways. For example, the first actuation unit may include a single-start lead screw mechanism or a multi-start lead screw mechanism. For example, Figures 4D to 4F depict alternate examples of suitable lead screw mechanisms. More particularly, Figure 4D shows a preferred embodiment of a single-start lead screw mechanism. In this example, the single start lead screw mechanism includes a first screw thread 101 having a first helical groove 102 that is disposed circumferentially and extends along the length of the first screw thread 101. Figures 4E and 4F show alternate examples of multi-start lead screw mechanisms. Referring to Figure 4E, a first preferred embodiment of a first multi-start lead screw mechanism is shown. In this example, the first multi-start lead screw mechanism is configured as a two-start lead screw mechanism. The two-start lead screw mechanism includes a first screw thread 101 having a first helical groove 102 and a second helical groove 103, wherein each helical groove 102, 103 is disposed circumferentially and extends along the length of the first screw thread 101. In this example, each helical groove 102, 103 extends parallel and is spaced equidistantly along the length of the first screw thread 101. The first helical groove 102 is angularly offset to the second helical groove 103. More particularly, in this example, each helical groove 102, 103 is angularly offset by 180 degrees around the circumference of the first screw thread 101. Referring to Figure 4F, a second example of a second multi-start lead screw mechanism is shown. In this example, the second multi-start lead screw mechanism is configured as a four-start lead screw mechanism. The four-start lead screw mechanism includes a first screw thread 101 having a first helical groove 102, a second helical groove 103, a third helical groove 104, and a fourth helical groove 105, wherein each helical groove 101, 102, 103, 104 is disposed circumferentially and extends along the length of the first screw thread 101. In this example, each helical groove 101, 102, 103, 104 extends parallel and is spaced equidistantly along the length of the first screw thread 101. Each helical groove 101, 102, 103, 104 is angularly offset to the adjacent helical groove. More particularly, in this example, each helical groove is angularly offset by 90 degrees around the circumference of the first screw thread 101.

[0099] It is to be appreciated that the person skilled in the art can readily configure the multi-start screw mechanism to include any suitable number of helical grooves and that the examples shown and disclosed herein are by way of non-limiting examples only. For example, the person skilled in the art would readily understand that the angular offset refers to a start point around the circumference of the first screw thread and that the angular offset can be calculated as follows:Angular Offset = 360 degrees / (Number of Starts)

[0100] Embodiments, wherein the lead assembly includes a multi-start screw mechanism, provide several advantages. For example, the multi-start screw mechanism may increase linear speed, whereby for the same rotational speed, the multi-start lead screw may provide faster linear motion compared to a single-start lead screw mechanism. The increased linear speed may increase actuation of the first and second actuators, when in use. Further, the multi-start lead screw mechanism increases the load capacity of the lead screw assembly. For example, the load may be distributed across multiple thread starts, allowing the lead screw mechanism to handle higher loads compared to single-start screws of similar size. Further, the multi-start lead screw mechanism may improve mechanical efficiency, potentially reducing the torque required to move a given load.

[0101] Referring to Figures 5 A and 5B, a third preferred embodiment of a third actuation system 3C is shown. The third actuation system 3C includes a circular primary gear 40. Preferably, the circular primary gear 40 has a diameter of less than about 100mm, more preferably less than about 80mm, more preferably less than about 70mm, and more preferably about 65mm. The circular primary gear 40 includes an upper surface 41 including a rack 42. The circular primary gear 40 further includes an axle 43, wherein the first end 8 A of the elongate member 8 is affixed to the axle 43. The third actuation system 3C may further include a first motor 44 and a second motor 45, wherein each motor is adapted to be rotatably engageable with the upper surface 41 of the circular primary gear 40 in a rack-and-pinion manner. In use, rotation of the circular primary gear 40 facilitates rotation of the axle 43 to provide resultant movement to the elongate member 8. Preferably, the first motor 44 and the second motor 45 may each be positionedat an equal distance apart relative to the circumference of the circular primary gear 40. Preferably, the third actuation system 3C may include at least three motors, more preferably at least four motors, and more preferably at least five motors. It is to be appreciated that the third actuation system 3C may include any suitable number of motors and that the embodiments shown and described herein are by way of non-limiting examples only. Preferably, each motor is positioned at an equal distance apart relative to the circumference of the circular primary gear 40.

[0102] Still referring to Figures 5A to 5B, the elongate member 8 may be configured to be windable about the axle 43 such that winding of the elongate member 8 about the axle 43 adjusts the tension of the elongate member 8 to give biomechanical movement of the subject, when in use. Preferably, the first end 8A of the elongate member 8 is affixed to the axle 43. Persons skilled in the art will readily appreciate that the elongate member 8 may be affixed to the axle 43 using any suitable means. The axle 43 may include a groove extending along the length of the axle (not shown). Preferably, the axle 43 includes a helical groove extending along the length of the axle 43 that, in use, provides a predetermined path or guide for the elongate member 8 to wind about the axle 43.

[0103] Still referring to Figures 5A to 5B, the first motor 44 may include a first motor shaft 44A and the second motor 45 includes a second motor shaft 45 A. The first motor shaft 44A may include a first pinion and the second motor shaft 45A may include a second pinion. The first pinion of the first motor shaft 44A rotatably engages with the upper surface 41 of the circular primary gear 40 in a rack-and-pinion manner, and the second pinion of the second motor shaft 45 A rotatably engages with the upper surface 41 of the circular primary gear 40 in a rack-and-pinion manner. In use, activation of each motor causes each respective motor shaft and pinion to rotate thereby causing rotation of the primary circular gear and axle 43 in a first direction. Rotation of the axle 43 in the first direction in turn causes the elongate member 8 to wind about the axle 43 thereby adjusting the length or tension of the elongate member 8 relative to the first securing point 6. In use, activation of each motor may cause each respective motor shaft andpinion to rotate, thereby causing rotation of the primary circular gear and axle 43, causing the elongate member 8 to wind or unwind about the axle 43, thereby adjusting the tension or length of the elongate member 8. For example, each motor may be controllably activated to cause each respective motor shaft and pinion to rotate in a first direction, thereby causing controlled rotation of the primary circular gear and axle 43 in the first direction. Such rotation in the first direction may cause the elongate member 8 to wind about the axle 43, increasing the tension and reducing the length of the elongate member 8 relative to the first securing point 6 of the power assistance device 1 that, in turn, may cause flexion of the first body part 9 of the subject, when in use. Alternately, each motor may be controllably activated to cause each respective motor shaft and pinion to rotate in a second direction, thereby causing controlled rotation of the circular primary gear 40 and axle 43 in the second direction. Such rotation in the second direction may cause the elongate member 8 to unwind about the axle 43, reducing the tension and length of the elongate member 8 relative to the first securing point 6 of the power assistance device 1 that, in turn, may cause extension of the first body part 9 of the subject, when in use.

[0104] The output torque of each motor may be calculated using the following equation:

[0105] Where F is the output force of the circular primary gear, N is the number of motors, Tmis the motor torque of each motor, RG is the radius of the circular primary gear, Rmis the radius of each motor shaft, and R is the radius of the axle. In this embodiment, increasing the number of motors (N) may thereby increase the output force of the circular primary gear (F). To increase the output force of the circular primary gear (F), the diameter of the axle may be configured to be less than the diameter of the circular primary gear. For example, T = F*R, (where T is the torque of the primary circular gear, F is the output force of the circular primary gear, and R is the radius of the axle). Thus, reducing the radius of the axle may increase the output force of the primary circular motor. Thus, embodiments wherein the diameter of the axle is configured to be less thanthe diameter of the circular primary gear may produce a higher output force, which may be advantageous for adjusting the tension of the elongate member to thereby provide flexion or extension of a body part of the subject attached thereto.

[0106] The power assistance device may optionally include an adjustable passive layer for enhancing user comfort (not shown). Preferably, the adjustable passive layer includes an elongate elastic member having a first connector at a first end and a second connector at a second end. The elongate elastic member may be configured with variable width or thickness adapted to modify assistance levels, as desired. Preferably the elongate elastic member is flexible and resilient. The elongate elastic member may be constructed of any suitable material as could be readily determined by the person skilled in the art. A plurality of coupling regions are disposed at predetermined positions on the power assistance device, wherein the plurality of coupling regions are adapted for coupling or connecting the elongate elastic member to the power assistance device. For example, a plurality of fasteners and corresponding securing elements are adapted to fasten each connector to a selected coupling region, thereby allowing the elongate elastic member to be securely attached at desired positions on the power assistance device. This configuration allows selective adjustment of the adjustable passive layer by selecting appropriate coupling regions based on the desired level of assistance for the subject. Further customisation of the adjustable passive layer may be achieved by adjusting the width and / or thickness of the elongate elastic member, allowing for level adjustment of the amount of assistance provided by the adjustable passive layer. Embodiments including the adjustable passive layer may accommodate a wide range of subject requirements and body types while maintaining comfort and efficacy during operation.

[0107] Referring to Figure 6, a preferred embodiment of the power assistance device 1 including a sensor is shown. By way of example, the power assistance device 1 may be adapted to use signalling processing methods and algorithms to detect the movement intention of the subject 2 and to adjust the level of assistance provided by the power assistance device 1 in response to the detected movement intention of the subject 2. For example, the power assistance device 1 may include a sensor 46, wherein thesensor 46 may be configured and adapted to detect and measure real-time biomechanical, physical, and / or physiological output signals, and substantially transmit the respective output signals to a controller. The controller may be configured and adapted to process the respective sensor output signals to determine the subject’s intention, action, and / or physical state to ensure that the power assistance device provides the desired level of assistance to the subject at all times.

[0108] Still referring to Figure 6, the power assistance device 1 includes the sensor 46 and a controller (not shown). The sensor 46 may be configured and adapted to measure a biomechanical parameter, a physiological parameter, an environmental parameter, or any combination thereof, and output signals relating to the respective measured parameter(s), when in use. Preferably, the sensor 46 may be configured and adapted to measure biomechanical signals of the subject 2. Alternately, the sensor 46 may be configured and adapted to measure electrical signals of the subject 2. Preferably, the sensor 46 may be adapted to determine the positioning of the first body part 9 of the subject 2 and output signals relating to the positioning of the first body part 9 of the subject 2, when in use. The controller may be adapted to receive and process the output signals relating to the respective measured parameter(s) to provide real-time feedback and control the power assistance device as described herein. The sensor may communicate with the controller using any suitable wireless communications protocols including but not limited to Wi-Fi, Bluetooth, IrDA, IEEE 802.15.4, ZigBee, dedicated short range communication (DSRC), EnOcean, and GSM or LTE cellular communication, or any other suitable wireless communication protocol well-known in the art. The sensor 46 may be any suitable sensor. Non-limiting examples of suitable sensors may include force sensors (such as load cells), pressure sensors, strain or displacement sensors (such as capacitive sensors, lasers or ultrasonic rangefinders, linear encoders, rotary encoders on rotary elements of rotatory-to-linear transducers or transmissions), angle sensors (such as magnets, magnetometers, accelerometers, and / or gyroscopes), bio signal sensors, temperature sensors, respiration rate sensors, electroencephalogram (EEG) sensors, electromyography (EMG) sensors, electrocardiogram (ECG) sensors, pulse sensors, blood pressure sensors, galvanic skin response sensors, humidity sensors, chemicalsensors, ionizing radiation sensors, camera, proximity sensors, heart rate sensors, stretch sensors (such as resistive stretch sensors, optical stretch sensors, optical stretch sensors) or any other suitable sensor, or any combination thereof. The sensor 46 may be adapted to be attached to the power assistance device 1 at any suitable predetermined position. Persons skilled in the art would readily understand that the predetermined position will vary and depend on the type of sensor. Persons skilled in the art can readily determine the suitable predetermined position based on the type of sensor selected using their common general knowledge. The sensor 46 may be attached to the power assistance device 1 in a variety of suitable ways. For example, the sensor may be integrated or embedded into the power assistance device. Alternately, the sensor 46 may be mounted, adhered, or affixed to the power assistance device. By way of non-limiting examples, the sensor 46 may be mounted, adhered or affixed to the power assistance device 1 by way of fasteners, adhesives (such as tape, Velcro, and / or medical-grade adhesive), or a combination thereof. Mounting, adhering, or affixing the sensor 46 to the power assistance device 1 allows for flexible placement and easy removal of each sensor from the power assistance device. It is to be appreciated that the sensor may be attached to the power assistance device in a variety of suitable ways and that the embodiments described and shown herein are by way of non-limiting examples only. In an additional or alternate embodiment, the power assistance device may include a stimulator adapted to be positioned at a predetermined position on the power assistance. Preferably, the power assistance device may include a plurality of stimulators adapted to be positioned at alternate or distributed predetermined positions on the power assistance device. Preferably, the stimulator is adapted to provide electrical stimulation, mechanical stimulation, electromagnetic stimulation, thermal stimulation, optical stimulation, acoustic stimulation, chemical or biochemical stimulation, or a combination thereof, to the subject, when in use.

[0109] In use, the controller may be adapted and configured to receive and process the output signals from the sensor 46 to adjust the tension of the elongate member 8 and provide biomechanical movement of the subject 2. For example, the controller may receive the output signals of the sensor 46 and extract relevant information about thesubject’s biomechanical state, environmental surroundings, and intended muscle movements. The controller may implement control algorithms to translate the output signals of the sensor 46 into appropriate or desired commands or adjustments to the power assistance device 1 such as actuation of the actuation system. The control algorithms may include feedback control loops, predictive modelling, or machine learning algorithms to optimize the performance and responsiveness of the power assistance device. Preferably, the controller may further include a user interface configured and adapted to allow the subject 2 to control the power assistance device. For example, the user interface may include an interactive component (such as, without limitation, a button, a touchscreen, a switch, movement recognition systems, or any combination thereof) that, in use, may facilitate interaction between the subject 2 and the power assistance device 1. The user interface may advantageously enable the subject 2 to control, initiate, and adjust the power assistance device functions, modes, or assistance levels based on their preferences or needs. Preferably, the controller includes an adaptive control system. The adaptive control system may advantageously adjust the control parameters based on changes in the subject’s movement or environmental surroundings.

[0110] In use, the controller may be configured to continuously receive the sensor output signals (such as EEG signals, EMG signals, and / or IMU signals) and process the sensor output signals to assess the subject’s movement, muscle activity, balance, and physiological parameters. The adaptive control system may allow the controller to adjust the control parameters or settings to optimize performance and accommodate changes to the subject’s behaviour, movement, or task requirements. The adaptive control system may include a feedback control loop, wherein the feedback control loop is adapted and configured to regulate the movement and behaviour of the power assistance device in real-time. Persons skilled in the art may readily configure the adaptive control system to incorporate adaptive algorithms to adjust control parameters based on error signals or performance metrics using techniques and methods well-known in the art. The adaptive control system may include machine learning algorithms or adaptive algorithms. Persons skilled in the art would readily understand that such machine learning algorithms or adaptive algorithms may involve techniques such as reinforcement learning, adaptivemodel predictive control, or neural networks to iteratively improve the control, functioning, and performance of the power assistance device.

[0111] Still referring to Figure 6, the power assistance device 1 may include a plurality of sensors. For example, the power assistance device 1 may include at least two sensors, at least three sensors, at least four sensors, or at least five sensors. It is to be appreciated that the power assistance device 1 may include any suitable number of sensors and that the examples shown and described herein are by way of non-limiting examples only. Preferably, the power assistance device 1 includes a plurality of sensors, wherein the plurality of sensors includes a combination of different types of sensors. Preferably, the power assistance device 1 includes a first sensor, wherein the first sensor may be configured, adapted, and positioned to measure biomechanical signals of the subject 2, when in use. Preferably, the power assistance device 1 further includes a second sensor, wherein the second sensor may be configured, adapted, and positioned to measure electrical signals of the subject 2, when in use.

[0112] Still referring to Figure 6, the first sensor may be an EMG sensor. The first sensor may be adapted to be positioned at a third predetermined position on the subject 2. Preferably, the third predetermined position is adapted to be positioned at a first target muscle of the subject 2. The first target muscle may include a lower body muscle of the subject 2. Non-limiting examples of suitable lower body muscles of the subject 2 may include quadriceps femoris, hamstrings, gluteus maximus, calf muscles, tibialis anterior, adductor muscles, hip flexors, or any combination thereof. Alternately, the first target muscle may include an upper body muscle of the subject 2. Non-limiting examples of suitable upper body muscles of the subject 2 may include biceps brachii, triceps brachii, deltoid muscles, trapezius muscle, latissimus dorsi, pectoralis major, or any combination thereof. In use, the EMG sensor may detect and measure EMG output signals produced by the target muscle of the subject 2 during muscle movement (such as muscle contraction). In use, the controller receives and processes the EMG output signals to estimate the target muscle's joint torque, thereby delivering force to the power assistance device. By way of example, the controller may receive and process the EMG outputsignals to estimate the joint torque produced by the target muscle and command actuation of the actuation system at the target body joint to adjust the tension of the elongate member 8 thereby resulting in extension or flexion of the first body part 9 about the first body joint. Persons skilled in the art would readily understand that the EMG sensor may be positioned at any suitable position on the power assistance device. By way of example, the EMG sensor may be adapted to be positioned along a longitudinal axis of the first target muscle of the subject 2 such that the longitudinal axis of the EMG sensor extends parallel to the muscle fibres of the first target muscle of the subject 2. Preferably, the EMG sensor may be adapted to be positioned at or near an intermediary portion of the first target muscle. Preferably, the EMG sensor may be adapted to be positioned between a motor point of the first target muscle and a tendon insertion of the first target muscle, such that the EMG sensor extends along the longitudinal axis of the first target muscle. Preferably, the EMG sensor is adapted to be positioned such that the longitudinal axis of the EMG sensor is parallel to the length of the muscle fibres of the first target muscle.

[0113] Still referring to Figure 6, the second sensor may be an EEG sensor. The power assistance device 1 may further include a cap adapted to be fitted to the head of the subject 2, wherein the cap includes the EEG sensor. In some embodiments, the cap may include a plurality of EEG sensors. In use, the EEG sensor is configured, adapted, and positioned to measure the electrical brain activity signals of the subject 2 and output the electrical brain activity signals to the controller. By way of example, the EEG sensor may be configured, adapted, and positioned to detect electrical output signals relating to the subject’s movement intentions. In use, the EEG sensor may detect and measure electrical output signals of the subject 2 relating to the subject’s intention about the movement of a body part. In use, the controller may receive and process the electrical output signals to generate or produce corresponding commands to the actuation system of the power assistance device, thereby providing resultant biomechanical movement of the subject 2. Thus, the EEG sensor may advantageously allow intuitive and natural control of the movement of the power assistance device based on the subject’s neural commands. In a further example, the EEG sensor may be adapted and configured to provide real-time feedback based on the subject’s cognitive and attend onal states, thereby allowing thepower assistance device to adapt its level of assistance to the subject accordingly. For example, the EEG sensor may detect instances when the subject is fatigued and output signals signalling to the controller the subject’s relative fatigued state. The controller may then receive and process such output signals and command the actuation system of the power assistance device to adjust its provided level of assistance accordingly, when in use.

[0114] Still referring to Figure 6, the power assistance device 1 may further include a third sensor. The third sensor may be an inertial measurement unit (IMU) sensor. Non-limiting examples of suitable IMU sensors may include magnets, magnetometers, accelerometers, gyroscopes, or any combination thereof. The third sensor may be adapted to measure joint angles, limb or appendage movement, and overall body posture and alignment of the subject, when in use. Preferably, the third sensor is adapted to be positioned at a target appendage of the subject 2. The third sensor may be configured and adapted to detect and provide output signals associated with the subject’s orientation, acceleration, angular velocity, and / or rotational motion. In one embodiment, the third sensor may be an accelerometer. The accelerometer may be adapted to be positioned on the power assistance device 1 to detect and measure the acceleration of a target body part of the subject 2, when in use. Alternately, the third sensor may be a gyroscope. The gyroscope may be adapted to be positioned on the power assistance device 1 to detect and measure the rate of rotation or angular velocity of a target body part of the subject 2. Persons skilled in the art would readily understand that the relative positioning of the third sensor on the power assistance device may vary and depend on the target body part or target movement of the subject 2. Persons skilled in the art may readily select and adjust the positioning of the third sensor as necessary. It is to be appreciated that the power assistance device may include any suitable number of sensors and that the examples shown and described herein are by way of non-limiting examples only.

[0115] In a preferred embodiment, the power assistance device 1 may include a plurality of IMU sensors. Preferably, the plurality of IMU sensors includes a combinationof different types of IMU sensors. The IMU sensors may be useful for assisting the subject 2 to balance, when in use. For example, the IMU sensor may provide output signals and thus real-time data on the subject’s orientation, acceleration, and angular velocity. Such data may be useful for detecting changes in the subject’s centre of gravity and for rapidly adjusting the functioning of the power assistance device to maintain stability and prevent the subject from falling, when in use. For example, the IMU sensor may measure the subject’s orientation relative to a reference frame or angle. The IMU sensor may continuously monitor orientation changes and thus detect deviations from a stable posture and provide feedback to the controller, when in use. The IMU sensor may detect accelerations and angular velocities of the subject 2 along multiple axes, providing output signals on the subject’s movements and changes in velocity. Sudden changes in acceleration or angular velocity may indicate a loss of balance or an impending fall, thereby prompting the controller to signal to the power assistance device to intervene and provide assistance. The IMU sensor output signals may calculate the subject’s centre of mass and predict how the centre of mass may shift during dynamic movements or disturbances. The controller of the power assistance device 1 may signal to adjust the disturbances of forces or torques generated by the actuation system to counteract the shifts and maintain balance of the subject 2. The IMU sensors may be adapted to provide continuous feedback to the controller of the power assistance device, enabling rapid adjustments in assistance levels based on changes in the subject’s posture or movement dynamics. The IMU sensor may be adapted and positioned on the power assistance device 1 to detect sudden changes in orientation or acceleration indicative of the subject’s loss of balance. Persons skilled in the art can readily adapt and position the IMU sensors on the power assistance device to achieve the desired.

[0116] In a preferred embodiment, the power assistance device may further include an electrical stimulation system. Non-limiting examples of suitable electrical stimulation systems may include a transcutaneous electrical nerve stimulation (TENS) system, a functional electrical stimulation (FES) system, and a transcutaneous spinal cord stimulation (tSCS) system. . Referring to Figures 7A to 7C, a preferred embodiment of a TENS system 47 is shown. However, it is to be appreciated that the power assistancedevice may be readily adapted to include any suitable electrical stimulation system. Preferably, the TENS system 47 is adapted to provide a localised constant current to a target muscle or a target muscle group of the subject. Preferably, the current provided by the TENS system is less than or equal to about 200 mA, and the voltage provided by the TENS system is about 400 volts. It is to be appreciated that persons skilled in the art may readily adjust and determine the current and / or voltage provided by the TENS system as desired, using their common general knowledge and without undue burden. The TENS system 47 includes a band 48 having a first engaging surface 48A, wherein the first engaging surface 48A is adapted to engage with a body part of the subject or a portion of the power assistance device, when in use. It is to be appreciated that the band may be constructed of any suitable material. Non-limiting examples of suitable materials may include an elastic material (such as nylon-spandex blends or neoprene), a soft silicone material (such as medical-grade silicone, silicone rubber, skin adhesive silicone), a soft fabric (such as cotton, nylon, polyester, or any other suitable woven or non-woven fabric), conductive materials, or any combination thereof. A plurality of electrodes 49 are mounted to the first engaging surface 48A of the band 48 such that the plurality of electrodes 49 engage with the subject or the power assistance device, when in use. Preferably, the plurality of electrodes 49 includes a first pair of electrodes, wherein the first pair of electrodes includes a first electrode 49 A and a second electrode 49B. The first electrode 49A may be a cathode and the second electrode 49B may be an anode. Preferably, the first electrode 49A and the second electrode 49B are configured to have similar or equal dimensions. The first engaging surface 48A of the band 48 may include a first fastener 50, wherein the first fastener 50 is adapted to fasten the first engaging surface 48A of the band 48 to the power assistance device, when in use. Referring to Figures 7B to 7C, the first fastener 50 may be adapted to adhere to the power assistance device. Preferably, the first fastener 50 may be adapted to adhere to the power assistance device in a hook-and-loop manner. For example, the first fastener 50 may include a hook component and the power assistance device may include a complementary loop component such that the hook component is adapted to engage with the loop component to fasten the TENS system 47 to the power assistance device, when in use.

[0117] In an alternate embodiment, the band 48 may be adapted to be worn by the subject. Referring to Figure 7C, a second opposing surface 48B of the band 48 may include a second fastener 51 , wherein the second fastener 51 of the band 48 is adapted to engage with the first fastener 50 of the band 48. In use, the first engaging surface 48A of the band 48 may be secured or placed on a body part (such as an appendage or limb) of the subject such that the plurality of electrodes directly or indirectly contacts the body part of the subject. The band 48 may be wrapped around the body part of the subject to form a loop, wherein the first fastener 50 may be adapted to adhere or fasten to the second fastener 51 such that the band 48 forms a secured loop around the body part of the subject, when in use. Preferably, the first fastener 50 and the second fastener 51 are adapted to adhere or fasten in a hook-and-loop manner.

[0118] Still referring to Figures 7A to 7C, the TENS system 47 may be adapted to wirelessly communicate with the third sensor of the power assistance device and the controller of the power assistance device. Persons skilled in the art may readily configure and adapt the TENS system 47 to wirelessly communicate with the third sensor and the controller using methods and techniques well-known in the art.

[0119] Referring to Figure 8, the power assistance device 1 may further include an inflatable device 52. The inflatable device 52 may be adapted to be positioned at a fourth predetermined position 53 on the subject 2. The inflatable device 52 may include an inflation system, wherein the inflation system is adapted to releasably inflate to provide cushion support at the fourth predetermined position 53 on the subject 2, when in use. In use, a sensor 46 as described herein may monitor and detect movement of the subject 2, such as sudden changes in velocity, orientation, or pressure, which may indicate a fall or impact. Non-limiting examples of suitable sensors may include accelerometers, gyroscopes, or pressure sensors. The fourth predetermined position on the subject may be adapted to be any suitable position. Preferably, the fourth predetermined position is adapted to positioned at a body joint or body part susceptible to injury upon impact. Preferably, the fourth predetermined position is adapted to be positioned on a body joint of the subject. Non-limiting examples of body joints mayinclude a knee joint, an ankle joint, a shoulder joint, an elbow joint, a wrist joint, or any combination thereof.

[0120] Preferably, the sensor 46 is configured to continuously monitor the subject’s movements and environmental conditions, and outputs signals based on the subject’s movements and environmental conditions to a controller as described herein.Preferably, the controller is adapted and configured to receive the sensor output signals in real-time and process the sensor output signals to identify patterns that may be indicative of a fall or an impact event. When the controller identifies a pattern that may be indicative of a fall or impact event, the controller may generate an activation signal to trigger inflation of the inflation system, when in use. Persons skilled in the art could readily configure the controller to wirelessly transmit the activation signal to the inflatable device 52 or transmit the activation signal through a wired connection, using methods and techniques well-known in the art. Upon receiving the activation signal, the pneumatic actuator is activated to relay pneumatic pressure into the air chamber thereby causing the air chamber to inflate, when in use. As the air chamber inflates, the inflatable device 52 creates a cushioning effect around the fourth predetermined position 53 on the subject, absorbing and dissipating the energy of the impact, thereby minimising injury and damage to the subject. Preferably, the inflation system further includes a valve coupled to the air chamber, wherein the valve is configured and adapted selectively release pneumatic pressure from within the air chamber, when in use. Persons skilled in the art could readily configure the valve to be configured to be manually operated or automatically operated using methods and techniques well-known in the art.

[0121] In a preferred embodiment, the power assistance device is configured to control the gait of a subject. It is to be appreciated that the power assistance device may be configured to control the gait of the subject using a variety of suitable techniques or methods. In a preferred embodiment, the method may involve simulating normal gait cycles based on data from healthy individuals. In a first example, the simulation may be achieved using foot trajectory to control joint angle. In this example, the power assistance device may utilise equations to simulate normal gait cycles. For each point in thetrajectory, Px and Py coordinates may be defined, and joint angles may be calculated based on these coordinates. The following equations may be used to control the robot according to the foot trajectory or limb angle:

[0122] Where 01 and 02 represent joint angles, Px and Py are foot trajectory coordinates, and LI and L2 are limb segment lengths.

[0123] In a second example, the simulation may be achieved using a recorded joint angle to control the power assistance device. In this example, the power assistance device may include sensors as described herein adapted to measure the spatial location of the limbs of the subject. The actuation system(s) of the power assistance device may then control the angles between the joints based on the obtained sensory data.

[0124] The power assistance device may be programmed for various movement cycles, such as ascending or descending stairs, sitting, standing, or lying down. The power assistance device may be adapted to use measured joint angles or generated trajectories for control for each movement cycle. The power assistance device may allow for partial completion of movement cycles, ranging from 0% to 100%. Joint angles may be pre-recorded for each movement cycle, and the actuation systems (and respective motors of the actuation system thereof) may follow the recorded angles from beginning to end, with the ability to repeat on a loop if necessary.

[0125] The power assistance device may optionally include a sensor, preferably at least two sensors, more preferably at least two different types of sensors. For example, in a preferred embodiment, the power assistance device may include at least two sensors a joint angle sensor and a camera sensor. Embodiments, wherein the power assistance device includes a joint angle sensor, a camera sensor, or a combination thereof, mayincrease the accuracy and hazard detection capabilities of the power assistance device. For example, the joint angle sensor(s) may be adapted to be positioned at articulation points and may be adapted to continuously measure angular positions at a high sampling rate. The camera sensor(s) may be adapted to be suitably positioned to capture visual information of the user’s environment and body position (such as, at a front face or front body portion of the power assistance device). In use, the joint angle sensor(s) and camera sensor(s) may capture and obtain sensor data which may be transmitted to a central processing unit, where the sensor data undergoes preprocessing to remove noise. Sensor fusion algorithms may then integrate the joint angle sensor data with visual information (camera sensor data), creating a more comprehensive understanding of the user’s movement and environment. The pre-processed sensor data may be used for motion analysis, comparing current movements to pre-programmed or learned gait patterns, and for environment assessment to detect potential hazards. A real-time feedback loop may allow for continuous adjustments to the power assistance device’s assistance based on detected changes in gait or environmental conditions. Over time, collected data may be used to train machine learning models, potentially improving the device’s ability to predict user intentions and optimise assistance. In some embodiments, the power assistance device may be adapted to trigger safety protocols if hazardous situations are detected, update user interfaces with movement quality or environmental information, and store data for later analysis to track user progress or refine power assistance device algorithms. In a further optional embodiment, the power assistance device may be adapted to include a voice control mechanism or system using methods and techniques well-known in the art. Such an embodiment allows users to initiate or modify movement patterns through spoken commands, thereby enhancing user interaction and control over the assistance provided.

[0126] In a preferred embodiment, the power assistance device 1 may be configured to be wearable by the subject 2. Preferably, the power assistance device may be adapted to be an exosuit or an exoskeleton.

[0127] The power assistance device as described herein may be applied to any suitable subject and may be suitable for a variety of different uses. In a preferred embodiment, the subject may be a human subject, wherein the subject. The subject may have a neurological disorder, a neuromuscular disorder, or any combination thereof. Preferably, the subject has a central nervous system (CNS) disorder. Non-limiting examples of CNS disorders may include any one or more of a stroke, Traumatic Brain Injury (TBI), Epilepsy, Parkinson’s Disease, Alzheimer’s Disease, Multiple Sclerosis (MS), Huntington’s Disease, Cerebral Palsy, Meningitis, and Encephalitis. Alternately, the subject may have a neuromuscular disorder. Non-limiting examples of neuromuscular disorders may include any one or more of Amyotrophic Lateral Sclerosis (ALS), Multiple Sclerosis (MS), Muscular Dystrophy (MD), Spinal Muscular Atrophy (SMA), Myasthenia Gravis (MG), Charcot-Marie-Tooth Disease (CMT), Guillain-Barre Syndrome (GBS), Friedreich's Ataxia, Peripheral Neuropathy, and ALS -Parkinsonism- Dementia Complex (ALS-PDC). Preferably, the subject has a neurological disorder, neuromuscular disorder, or a combination thereof, wherein symptoms of the respective neurological disorder and / or neuromuscular disorder include improper functioning of the subject’s muscles. Persons skilled in the art would readily understand that improper functioning of the subject’s muscles may refer to any deviation from normal muscle function in healthy individuals. Improper functioning of muscles may impair movement, strength, coordination, and overall musculoskeletal health of the subject. Non-limiting examples of symptoms of improper functioning of muscles may include muscle weakness, muscle spasms or cramps, muscle stiffness or rigidity, muscle atrophy, muscle imbalance, muscle fatigue, muscle injuries, muscle disorders, or any combination thereof. The power assistance device as described herein may advantageously assist improper functioning of the subject. For example, the power assistance device as described herein may provide flexible external support, augment muscle strength, and facilitate natural and anatomical movements of the subject. The power assistance device as described herein may be adapted by way of shape, size, and position on the subject, to provide external support and stability to weakened or unstable body parts, body joints, and muscles of the subject. For example, the actuation system of the power assistance device may be controllably actuated to provide selective movement to the elongate member which, inuse, provides resultant and selective biomechanical movement to a predetermined body part of the subject.

[0128] Figure 9 depicts a preferred embodiment of a power assistance system 54 is shown in Figure 9. The power assistance system 54 includes the power assistance device 1 as described herein. Referring to Figure 9, the power assistance device 1 may be adapted to be wearable by the subject. The power assistance system further includes a decorative system 55 adapted to be attachable to the power assistance device 1. By way of a non-limiting example, the power assistance device may further include a first hole, wherein the first hole is adapted to be positioned at a fifth predetermined position on the subject. The first hole may extend from a first engagement surface of the power assistance device to a second opposing surface of the power assistance device to provide an attachment hole for the decorative system, when the power assistance system is in an assembled configuration. The fifth predetermined position may be adapted to be positioned on the main body of the subject. Alternately, the fifth predetermined position may be adapted to be positioned on an appendage of the subject. Preferably, the fifth predetermined position may be adapted to be positioned on an upper body portion of the subject, such as (and without limitation) the back, the neck, the chest, a shoulder, an upper arm, or a forearm of the subject. Alternately, the fifth predetermined position may be adapted to be positioned on a lower body portion of the subject, such as (and without limitation) the waist, the hip, the upper leg, or the lower leg of the subject. Preferably, the power assistance device may include a plurality of attachment holes, wherein each attachment hole is adapted to be positioned at a separate predetermined position on the subject.

[0129] The decorative system may include a shaft having a first shoulder and a second shoulder. The first shoulder may be adapted for insertion through the first hole on the power assistance device such that the shaft extends through the first hole and the first shoulder is engageable with the first engaging surface of the power assistance device, when the power assistance system is in an assembled configuration. Preferably, the shaft is adapted in shape and size to correspond to the shape and size of the first hole in thepower assistance device. An inner face of the second shoulder may be adapted to engage with the second opposing surface of the power assistance device, when the power assistance system is in an assembled configuration. An outer face of the second shoulder may include a decorative accessory. In one embodiment, the decorative accessory may be in the form of a shape or a design, wherein the shape or design may be fully or partially integrated into the outer face of the second shoulder. For example, the shape or design may be a “happy face”, a “love heart”, an “animal” or any other design that may be stamped or embossed on the outer face of the second shoulder. Alternately, the second shoulder of the shaft may be adapted to be attachable to the decorative accessory. In a non-limiting example, the decorative accessory may be in the form of a superhero accessory, wherein the superhero accessory may be adapted to be attachable to the outer face of the second shoulder of the shaft. For example, the superhero accessory may be in the form of a cape. In this example, the cape may include a second hole, wherein the shaft of the decorative system may extend through the second hole of the cape such that the inner face of the second shoulder of the shaft is engageable with an outer side of the cape, when in an assembled configuration. It is to be appreciated that the decorative accessory may be any suitable decorative accessory and that the examples shown and described herein are by way of non-limiting examples only.

[0130] In some embodiments, the decorative system may include a plurality of decorative accessories, wherein the plurality of decorative accessories includes a plurality of superhero accessories. Preferably, the power assistance system may be adapted to be wearable by the subject in the form of a superhero suit. Adapting the power assistance system to be wearable by the subject in the form of a superhero suit may achieve several advantages. For example, the superhero suit may have psychological advantages or benefits for a child or adolescent subject, in addition to the assistive biomechanical functions provided by the power assistance device. Children and adolescents may be more likely to wear or use the power assistance system when the power assistance is in the form of a superhero suit because the superhero suit may empower the child or adolescent by increasing their sense of control, self-confidence, agency and independence, and self-esteem.

[0131] It is to be appreciated that the decorative system may be adapted to be attachable to the power assistance device in a variety of suitable ways, as would be readily understood by persons skilled in the art, and that the examples shown and described herein are by way of non-limiting examples only.

[0132] In yet an alternate embodiment, the power assistance device may be adapted to be wearable by the subject in the form of a suit, such as (and without limitation), in the form of a business suit. In yet another alternate embodiment, the power assistance device may be adapted to be wearable by the subject in the form of a causal dress outfit.

[0133] In a preferred embodiment, the power assistance device may be adapted for use with an application system (‘app’). Preferably, the app is a mobile application or a web-based application. The app may enhance the functionality and user experience of the power assistance device. Preferably, the app is adapted to connect users with rehabilitation services. In a preferred embodiment, the application system may work as follows:

[0134] User registration and profile creation: users may create personal profiles within the app, inputting relevant medical history, rehabilitation goals, and power assistance device specifications. This information may be used to personalise the app experience and match users with suitable therapists or medical professionals.

[0135] Therapist registration and profile creation: rehabilitation specialists (including, but not limited to, medical professionals, physiotherapists, occupational therapists, or any other medical professional thereof) may create professional profiles within the app, inputting location information, speciality information, cost information, and any other relevant information thereof.

[0136] Therapist discovery and booking: the app may be adapted to include a searchable database of registered rehabilitation specialists. In use, users may filter rehabilitation therapists based on specialisation, location, availability, and user ratings.Once a suitable rehabilitation is identified, users may book appointments directly through the app.

[0137] Device connectivity: the app may be adapted to establish a secure connection with the user’s power assistance device. This connection may allow for realtime data transmission from the power assistance device’s sensors to the app, including joint angles, force measurements, and other relevant metrics.

[0138] Remote monitoring dashboard: the app may be adapted to include a comprehensive dashboard. In use, rehabilitation therapists may access the comprehensive dashboard displaying real-time and historical data from the user’s power assistance device. The comprehensive dashboard may include visualisations of movement patterns, joint angles, and other relevant metrics, allowing for detailed remote assessment and progress tracking.

[0139] Therapy session management: in use and during therapy sessions, whether in-person or remote, rehabilitation therapists may use the app to control the power assistance device. For example, rehabilitation therapists may adjust assistance levels, initiate specific movement patterns, or set parameters for rehabilitation exercises. The app may be adapted to allow rehabilitation therapists to record notes and observations during sessions.

[0140] Al-powered exercise recommendations: the app may be adapted to incorporate machine learning algorithms that analyse user performance data. Based on this analysis, the app may generate personalised exercise recommendations, suggest modifications to existing routines, or highlight areas needing additional focus.

[0141] User control interface: the app may be adapted to include a user control panel. In use, users may have access to the user control panel within the app, allowing them to adjust device settings, select operation modes (such as walking, standing, and stair-climbing), and initiate pre-programmed movement patterns. The user control interface may be customisable based on user preference and capabilities.

[0142] Progress tracking and reporting: the app may be adapted to generate detailed progress reports, tracking improvements in mobility, strength, and other relevant metrics over time. The progress reports may be shareable with healthcare providers and may include visual representations of data for easy interpretation.

[0143] Telehealth integration: the app may be adapted to include built-in video conferencing capabilities, allowing for remote consultations between users and rehabilitation therapists. During telehealth sessions, rehabilitation specialists may be able to observe user movements, provide real-time guidance, and make adjustments to the device settings as needed, when in use.

[0144] Educational resources: the app may be adapted to include a library of educational content or resources, including instructional videos for power assistance device usage, explanation of rehabilitation techniques, and general health information relevant to the user’s condition.

[0145] Community features: the app may be adapted to include social forums or channels. For example, in use, users may have access to moderated forums or chat groups within the app, allowing them to connect with other users using similar power assistance devices or undergoing comparable rehabilitation processes. This feature may provide peer support and allow users to share experiences and tips.

[0146] Alerts and notifications: the app may be adapted to send reminders for scheduled therapy sessions, power assistance device maintenance tasks, or medication schedules. Additionally, the app may optionally generate alerts if the power assistance device detects unusual movement patterns or if sensor readings fall outside of predetermined safe ranges.

[0147] Data security and privacy: the app preferably includes robust security measures to protect user data, including encryption of sensitive information and compliance with relevant healthcare data protection regulations.

[0148] Integration with healthcare systems: the app may be adapted to be capable of securely sharing data with electronic health record systems, allowing for seamless integration with the user’s broader healthcare management.

[0149] By combining the app features described herein, the app may provide a central system for managing the power assistance device, facilitating rehabilitation processes, and enhancing communication between users and healthcare providers.

[0150] Although the invention has been described with reference to specific examples, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms, in keeping with the broad principles and the spirit of the invention described herein.

[0151] The present invention and the described preferred embodiments specifically include at least one feature that is industrial applicable.

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:

1. A power assistance device for assisting biomechanical function of a subject, wherein the power assistance device comprises: an actuation system adapted to be positioned at a first predetermined position on the subject, wherein the actuation system comprises a first actuator; wherein the power assistance device further comprises: a first securing point adapted to be positioned at a second predetermined position on the subject; and an elongate member, wherein a first end of the elongate member is coupled to the actuation system and a second end of the elongate member is coupled to the first securing point, and wherein, in use, actuation of the first actuator adjusts the tension of the elongate member to give biomechanical movement in the subject.

2. The power assistance device of claim 1, wherein the first predetermined position on the subject is a first body part; wherein the second predetermined position on the subject is a second body part; and wherein the actuation system is adapted to move the second body part of the subject about an axis of a first body joint, wherein the first body joint is positioned intermediate the first body part and the second body part of the subject.the actuation system is adapted to move the first body part of the subject about an axis of the first body part.

3. The power assistance device of claim 3, wherein the first body part is a first appendage.

4. The power assistance device of any one of the preceding claims, wherein the elongate member is flexible.

5. The power assistance device of any one of the preceding claims, wherein the actuation system is encapsulated.

6. The power assistance device of claim 5, wherein the encapsulated actuation system has an ingress protection (IP) rating of at least IP68.

7. The power assistance device of any one of the preceding claims, wherein the power assistance device further comprises: a first sensor, wherein the first sensor is adapted to determine the positioning of the second predetermined position of the subject and output signals relating to the positioning of the second predetermined position of the subject, when in use; wherein the power assistance device further comprises a controller, wherein the controller is adapted to receive and process the output signals of the sensor to adjust the tension of the elongate member and provide biomechanical movement of the subject, when in use.

8. The power assistance device of claim 7, wherein the power assistance device further comprises an inflatable device, wherein the inflatable device is adapted to inflate when impacted.

9. The power assistance device of any one of claims 1 to 8, wherein the actuation system comprises: a driving actuation unit comprising: the first actuator; and wherein the actuation system further comprises a receiving actuation unit comprising: a second actuator, wherein a distal end of the second actuator is coupled to the first end of the elongate member, wherein the second actuator is hydraulically or pneumatically actuated by the first actuator, and wherein actuation of the second actuator provides resultant movement to the elongate member, when in use.

10. The power assistance device of claim 9, wherein the first actuator comprises a first piston; and wherein the second actuator comprises a second piston; wherein the first actuator is in fluid communication with the second actuator, and wherein actuation of the first actuator relays hydraulic or pneumatic pressure to the second actuator to provide resultant movement to the elongate member, when in use.

11. The power assistance device of any one of claims 1 to 8, wherein the actuation system comprises: a circular primary gear comprising: an upper surface comprising a rack; and an axle,wherein the first end of the elongate member is coupled to the axle; wherein the actuation system further comprises a first motor and a second motor, wherein each motor is rotatably engageable with the upper surface of the circular primary gear in a rack-and-pinion manner, and wherein rotation of the circular primary gear facilitates rotation of the axle to provide resultant movement to the elongate member, when in use.

12. The power assistance device of claim 11, wherein the first motor and the second motor are each positioned at an equal distance apart relative to the circumference of the circular primary gear.

13. The power assistance device of claim 11, wherein the actuation system comprises at least three motors, wherein each motor is positioned at an equal distance apart relative to the circumference of the circular primary gear.

14. The power assistance device of any one of claims 11 to 13, wherein the elongate member is configured to be windable about the axle such that winding of the elongate member about the axle adjusts the tension of the elongate member to give biomechanical movement in the subject, when in use.

15. A power assistance system for assisting biomechanical function of a subject, wherein the power assistance system comprises: the power assistance device of any one of the preceding claims, wherein the power assistance device is adapted to be wearable by the subject; and wherein the power assistance system further comprises: a decorative system adaptable to be attachable to the power assistance device.

16. The power assistance system of claim 15, wherein the decorative system is adapted to give the power assistance system the appearance of a superhero suit.

17. An application system adapted for use with the power assistance device of any one of claims 1 to 15.

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