Garment assembly for triggering, promoting or resisting movement

Abstract

The present invention generally relates to a garment assembly for facilitating or resisting movement of a subject such as a human, animal or inanimate object wearing a garment of the garment assembly. More specifically, the garment assembly includes one or more smart material actuators that mechanically contract and / or expand when stimulated to create a force acting on the garment to trigger, promote, or resist movement of the body.

Description

Technical Field

[0001] The present invention generally relates to a garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly. More specifically, the garment assembly includes one or more smart material actuators that mechanically contract and / or expand when stimulated, thereby generating a force acting on the garment to trigger, facilitate, or resist movement of the subject. Background Art

[0002] Powered exoskeletons or exosuits refer to wearable mobility devices that allow limbs to move in a manner that enhances strength and endurance. Depending on the type of application, an exoskeleton or exosuit can be used to facilitate the user's own movement, such as assisting a user with limited mobility, or to react to the user's movement for use as a rehabilitation or exercise tool. Although various types of exoskeletons are commercially available, further development is still needed, such as minimizing the overall weight of the system, improving system responsiveness, and / or adding new system functionality.

[0003] Therefore, an improved garment assembly for initiating, facilitating and / or resisting movement would be advantageous. Summary of the invention

[0004] According to a first aspect, a clothing component is provided, which is used to promote or resist the movement of a subject such as a person, an animal or an inanimate object wearing the clothing component. The clothing component includes clothing. In addition, the clothing component includes a first anchoring area and a second anchoring area, each anchoring area being used to fix the clothing to a corresponding body part of the subject when in use. In addition, the clothing component includes at least one smart material actuator (SMA), which is connected between the first anchoring area and the second anchoring area and forms a first SMA group. In addition, the clothing component includes a force transmission mechanism, which connects the first anchoring area to the second anchoring area and includes the first SMA group. Each SMA is arranged to operate in an idle state or an inactive state and in an activated state triggered by a non-mechanical stimulus that changes the physical material properties in the associated SMA. In addition, the clothing component includes an activation unit, which is arranged to send the non-mechanical stimulus to each SMA in response to a defined activation sequence.

[0005] According to a second aspect, a clothing component is provided, which is used to promote or resist the movement of a subject such as a person, an animal or an inanimate object wearing the clothing component. The clothing component includes clothing. The clothing component further includes a first anchoring area and a second anchoring area, each anchoring area being used to fix the clothing to a corresponding body part of the subject when in use. In addition, the clothing component includes at least one smart material actuator (SMA), which is connected between the first anchoring area and the second anchoring area and forms a first SMA group. In addition, the clothing component includes a force transmission mechanism, which connects the first anchoring area to the second anchoring area and includes the first SMA group. Each SMA is arranged to operate in an idle state or an inactive state and in an activated state triggered by a non-mechanical stimulus that causes a geometric change in the associated SMA. In addition, the clothing component includes an activation unit, which is arranged to send the non-mechanical stimulus to each SMA in response to a defined activation sequence.

[0006] According to a third aspect, a clothing component is provided, which is used to promote or resist the movement of a subject such as a person, an animal or an inanimate object wearing the clothing component. The clothing component includes a garment having a first anchoring area and a second anchoring area. Each anchoring area is used to fix the garment to a corresponding body part of the subject when in use. In addition, the clothing component includes at least two first smart material actuators (SMAs), which are sequentially connected between the first anchoring area and the second anchoring area and form a first SMA group. A force transfer mechanism is provided to connect the first anchoring area to the second anchoring area, and the force transfer mechanism includes the first SMA group. Each SMA is arranged to operate in an idle state and in an activated state triggered by a non-mechanical stimulus that mechanically contracts the associated SMA. The clothing component further includes an activation unit, which is arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0007] According to a fourth aspect, a clothing component is provided, which is used to promote or resist the movement of a subject such as a person, an animal or an inanimate object wearing the clothing component. The clothing component includes a garment having a first anchoring area and a second anchoring area, each anchoring area being used to fix the garment to a corresponding body part of the subject when in use. In addition, the clothing component includes at least two first smart material actuators (SMAs), which are sequentially connected between the first anchoring area and the second anchoring area and form a first SMA group. In addition, the clothing component includes a force transmission mechanism, which connects the first anchoring area to the second anchoring area and includes the first SMA group. Each SMA is arranged to operate in an idle state and in an activated state triggered by a non-mechanical stimulus that mechanically expands the associated SMA. In addition, the clothing component includes an activation unit, which is arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0008] According to a fifth aspect, there is provided a garment assembly for facilitating or resisting movement of a subject, such as a person, animal or inanimate object, wearing the garment assembly. The garment assembly comprises: a garment comprising a first anchoring region and a second anchoring region, each anchoring region being used to fix the garment to a corresponding body part of the subject when in use; at least one first smart material actuator (SMA), the at least one first smart material actuator (SMA) being connected between the first anchoring region and the second anchoring region and forming a first SMA group; a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group, wherein the first anchoring region and / or the second anchoring region comprises at least one second SMA, wherein each SMA is arranged to operate in an idle state and in an activated state triggered in response to a non-mechanical stimulus that causes the associated SMA to mechanically contract, wherein the at least second SMA is arranged to mechanically contract in its activated state to fix the garment to the corresponding body part of the subject or provide force feedback; and an activation unit arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0009] According to a sixth aspect, there is provided a garment assembly for facilitating or resisting movement of a subject, such as a person, animal or inanimate object, wearing the garment assembly. The garment assembly comprises: a garment comprising a first anchoring region and a second anchoring region, each anchoring region being used to fix the garment to a corresponding body part of the subject when in use; at least one first smart material actuator (SMA), the at least one first smart material actuator (SMA) being connected between the first anchoring region and the second anchoring region and forming a first SMA group; a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group, wherein the first anchoring region and / or the second anchoring region comprises at least one second SMA, wherein each SMA is arranged to operate in an idle state and in an activated state triggered in response to a non-mechanical stimulus that causes the associated SMA to mechanically expand, wherein the at least second SMA is arranged to mechanically expand in its activated state to fix the garment to the corresponding body part of the subject or provide force feedback; and an activation unit arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0010] According to a seventh aspect, there is provided a garment assembly for facilitating or resisting movement of a subject, such as a person, animal or inanimate object, wearing the garment assembly. The garment assembly comprises: a garment having a first anchoring region and a second anchoring region, each anchoring region being used to fix the garment to a corresponding body part of the subject when in use, at least one first smart material actuator (SMA), the at least one first smart material actuator (SMA) being arranged between the first anchoring region and the second anchoring region, oriented along a first direction of the garment, and forming a first SMA group, at least one second smart material actuator (SMA), the at least one second smart material actuator (SMA) being arranged between the first anchoring region and the second anchoring region, oriented along a second direction of the garment, and forming a second SMA group, wherein the second direction is different from the first direction, a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group; a second SMA group, wherein each SMA is arranged to operate in an idle state and in an activated state triggered in response to a non-mechanical stimulus that causes the associated SMA to mechanically contract; and an activation unit, the activation unit being arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0011] According to an eighth aspect, there is provided a garment assembly for facilitating or resisting movement of a subject, such as a person, animal or inanimate object, wearing the garment assembly. The garment assembly comprises: a garment having a first anchoring region and a second anchoring region, each anchoring region being used to fix the garment to a corresponding body part of the subject when in use, at least one first smart material actuator (SMA), the at least one first smart material actuator (SMA) being arranged between the first anchoring region and the second anchoring region, oriented along a first direction of the garment, and forming a first SMA group, at least one second smart material actuator (SMA), the at least one second smart material actuator (SMA) being arranged between the first anchoring region and the second anchoring region, oriented along a second direction of the garment, and forming a second SMA group, wherein the second direction is different from the first direction, a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group; a second SMA group, wherein each SMA is arranged to operate in an idle state and in an activated state triggered in response to a non-mechanical stimulus that causes the associated SMA to mechanically expand; and an activation unit, the activation unit being arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0012] According to a ninth aspect, a garment component is provided, which is used to promote or resist the movement of a subject such as a person, an animal or an inanimate object wearing the garment component. The garment component includes a garment. The garment component further includes: an actuator assembly, the actuator assembly including a first anchoring area and a second anchoring area, each anchoring area being used to fix the garment to a corresponding body part of the subject when in use; at least one smart material actuator (SMA), the at least one smart material actuator (SMA) being connected between the first anchoring area and the second anchoring area and forming a first SMA group; and a force transmission mechanism, the force transmission mechanism connecting the first anchoring area to the second anchoring area and including the first SMA group. Each SMA is arranged to operate in an idle state or an inactive state and in an activated state triggered by a non-mechanical stimulus that causes a geometric change in the associated SMA. The garment component further includes an activation unit, which is arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Some examples will now be shown by way of example with reference to the following drawings, in which:

[0014] Figure 1 illustrates a top view of a garment assembly according to an example;

[0015] Figure 2 illustrates a top view of a garment assembly having an alternative force transfer mechanism configuration according to an example;

[0016] Figure 3 illustrates a top view of a garment assembly having another alternative force transfer mechanism configuration according to an example;

[0017] Figure 4 illustrates a top view of a garment assembly having yet another alternative force transfer mechanism configuration according to an example;

[0018] Figure 5 illustrates a top view of a garment assembly having yet another alternative force transfer mechanism configuration according to an example;

[0019] Figure 6 illustrates a top view of a photo-responsive smart actuator ID array according to an example;

[0020] Figure 7a and Figure 7b illustrating top views of sequentially connected SMA groups in idle and active states, respectively;

[0021] Figure 8 side views of portions of a garment assembly are shown in an idle state (upper half) and an activated state (lower half);

[0022] Fig. 9 shows a top view of a garment assembly comprising two sequentially connected SMA groups that are laterally separated and run in parallel;

[0023] Fig.10 shows a top view of a garment assembly including two sequentially connected SMA pairs, the SMAs being laterally separated and extending in different directions relative to first and second anchoring regions;

[0024] Fig.11 shows a top view of a garment assembly comprising three laterally separated sequentially connected SMA groups, wherein two groups extend parallel to each other and another SMA group extends in a different direction;

[0025] Fig.12 shows a top view of a garment assembly according to another example, wherein each anchoring area includes one or more SMAs;

[0026] Fig.13 shows a side view of a garment assembly having five laterally separated sets of sequentially connected SMAs according to another example;

[0027] Fig.14 Shows Fig.13 A side view of a garment assembly of , wherein the activation unit includes a plurality of light strips corresponding to each of the sequentially connected SMA groups;

[0028] Fig.15 Shows Fig.13 A side view of a garment assembly of wherein the activation unit comprises an LED panel covering a sequentially connected SMA group; and

[0029] Fig.16 Shows Fig.13 A side view of a garment assembly wherein the activation unit comprises a light-emitting panel. DETAILED DESCRIPTION

[0030] The general idea of ​​the present invention is to provide a clothing component having a garment and one or more discrete smart material actuators configured to undergo changes in its physical material properties. The change in the physical material properties may cause a geometric change. The geometric change may refer to a change in the geometric extension of the associated SMA, such as length or width. The geometric change may be related to the mechanical contraction or mechanical expansion of the associated SMA when subjected to non-mechanical stimulation. The associated changes in the physical material properties that cause the geometric change may generate or cause a force that is transmitted to one or more anchoring areas of the garment. The physical material properties may be related to the stiffness (related to the ability of the material to withstand stress without destroying the material or not undergoing plastic deformation or permanent deformation) or strength of the material. The anchoring area is arranged to provide friction or a close fit to the body part of the subject wearing the garment or the garment component. The force generated by the activation of the smart material actuator is transmitted to the body part of the subject via the anchoring area of ​​the garment using a force transmission mechanism. Depending on the type of application, the generated force can be used to resist the movement of the associated body part of the subject, or to promote the desired movement of the subject. In some examples, the magnitude of the force generated can be changed by changing the magnitude of the non-mechanical stimulus, or by changing other parameters associated with the non-mechanical stimulus (such as the light polarization angle, etc.).

[0031] In some examples, when mechanically contracted, the stiffness of the associated SMA material may increase. In some examples, when mechanically expanded, the stiffness of the associated SMA material may decrease.

[0032] In some examples, the garment assembly may be used as a wearable fitness device, where the user is configured to resist forces generated when associated smart material actuators are activated.

[0033] In other examples, the garment components may be used as wearable limb mobility facilitating devices, thereby enabling users with limited mobility to achieve a greater degree of mobility.

[0034] In other examples, the garment components may be used as medical rehabilitation devices, thereby enabling patients with limited mobility to achieve a higher degree of mobility.

[0035] refer to Figure 1, a first example of a garment assembly 100 for facilitating or resisting movement of a subject (such as a person) wearing the garment assembly is shown. The garment assembly 100 includes a garment 10, Figure 1 Depicted as a glove, the garment has a first anchoring area 11 and a second anchoring area 12. Each anchoring area 11, 12 is used to fix the garment 10 to a corresponding body part of the subject when in use. The garment component further includes at least two first smart material actuators (SMA) 21a, 21b connected in sequence between the first anchoring area 11 and the second anchoring area 12. The at least two SMAs connected in sequence constitute a first SMA group. The garment component 100 further includes a force transfer mechanism 20, which connects the first anchoring area 11 to the second anchoring area 12 and includes a first SMA group 21a, 21b. Each SMA is arranged to operate in an idle state or an inactive state and in an activated state triggered by a non-mechanical stimulus that mechanically contracts the associated SMA. In addition, the garment component 100 includes an activation unit 30, which is arranged to send the non-mechanical stimulus to each SMA individually in response to a defined activation sequence.

[0036] The anchoring area disclosed herein is arranged to be fixed to the corresponding body part of the subject. When fixed, the corresponding anchoring area provides a close fit with the body part of the subject. In addition, the anchoring area is arranged so that when fixed to the associated body part, it will not be able to move relative to the body part to which it is attached. Specifically, the anchoring area is arranged to provide friction between the clothing and the body part. The friction provided is designed to exceed the force generated by the SMA to which it is connected when activated and deactivated. Therefore, when the SMA is activated, the resulting generated force is less than the force required to make the fixed anchoring area relative to the body part to which it is attached to move. In other words, once fixed, the force required to move the anchoring area relative to the associated body part is designed to be greater than the force generated by the associated SMA when activated and / or deactivated. In some configurations, in order to maximize the friction between the clothing (or anchoring area) and the body part to which the anchoring area is attached, the anchoring area is arranged to surround the associated body part. Therefore, the anchoring area can be formed as a sleeve or the like. In some arrangements, the portion of the garment that contacts the subject's body part at the location of the anchoring area may be provided with a material that provides high friction with the subject's body part.

[0037] As will be explained further herein, in some examples, the associated SMA may also be configured to mechanically expand in its activated state.

[0038] For all SMAs disclosed herein, in the activated state, the non-mechanical stimulus will cause a change in the physical material properties. The change in the physical material properties may cause a geometric change in the SMA compared to the geometric extension of the SMA in the associated deactivated state or idle state. In addition, after the activated state, in the deactivated state triggered by the removal of the non-mechanical stimulus, the associated SMA will undergo another change in its physical material properties, thereby causing the SMA to undergo a geometric change to return to the geometric extension of the SMA in the deactivated state or idle state. In this way, a geometric change (such as a change in the geometric extension of the SMA) can be associated with the SMA mechanically contracting or mechanically extending. It can be seen from this that if the SMA is configured to mechanically contract when receiving a specific non-mechanical stimulus, the SMA will mechanically expand when the non-mechanical stimulus is removed. Vice versa. Therefore, if the SMA is configured to mechanically expand when receiving a specific non-mechanical stimulus, the SMA will tend to mechanically contract when the non-mechanical stimulus is removed.

[0039] Instead of using a long SMA (e.g., an SMA fiber or yarn that extends completely between two anchoring regions), using discrete SMAs that are connected sequentially between two anchoring regions, the desired overall force can be achieved while taking advantage of the higher response rate of discrete SMAs. Connecting SMAs sequentially means that the SMAs are connected one after another, such as in series, between a first anchoring region and a second anchoring region. Thus, the term "sequentially" means that two or more SMAs are connected in series between a first anchoring region and a second anchoring region. One or more connecting rods can be arranged to attach the respective SMAs together, as will be discussed further herein.

[0040] In addition, arranging two or more SMAs in sequence allows for activation of multiple SMAs in a sequence in a local region between two anchoring areas. When combined with activation of a second adjacent sequential SMA group in a second local region, this allows for the generation of a total torsional force (still with a longitudinal component). This torsional force makes the garment more flexible and allows the garment assembly to trigger, resist or facilitate torsional movement of the user wearing the garment assembly when in use.

[0041] The first SMA group may be sequentially connected between the first anchoring region and the second anchoring region along a first direction, such as a longitudinal direction.

[0042] The technical effect of the force transfer mechanism is to transfer the force (such as a pulling force) generated by each activated SMA between the corresponding activated SMA and the anchoring areas 11 and 12. Since at least two SMAs are connected in sequence between the first anchoring area 11 and the second anchoring area 12, when the associated SMA is activated, the force transfer mechanism will be used to pull or push the first anchoring area toward the second anchoring area or pull or push the second anchoring area toward the first anchoring area. Therefore, in response to activation, the generated force is used to reduce the longitudinal distance between the first anchoring area 11 and the second anchoring area 12 compared to the idle state or the deactivated state.

[0043] In the absence of an external force acting in a longitudinal direction opposite to the longitudinal direction of the generated force and equal to or greater than the generated force, the longitudinal distance between the two anchoring areas will decrease.

[0044] For an SMA configured to expand mechanically in its activated state, the technical effect of the force transfer mechanism is to transfer the force generated by each activated SMA between the corresponding activated SMA and the anchoring areas 11 and 12. Since at least two SMAs are connected in sequence between the first anchoring area 11 and the second anchoring area 12, when the associated SMA is activated, the force transfer mechanism will be used to reduce any tension between the first anchoring area and the second anchoring area. Alternatively, upon activation, the mechanical expansion of the SMA may cause the longitudinal distance between the first anchoring area and the second anchoring area to increase. In some examples, it can be said that the mechanical expansion can relax the SMA, making it less stiff. Therefore, in response to activation, the force generated is used to increase the longitudinal distance between the first anchoring area 11 and the second anchoring area 12 compared to the idle state or the deactivated state.

[0045] When the external force acting opposite to the generated force is equal to the generated force, the longitudinal distance remains constant.

[0046] When the generated force has a vector component that acts in the direction of the external force, the generated force acts to promote the associated external movement caused by the external force. In this example, the generated force increases the external force. In this case, the external force may cause a larger change in the longitudinal distance between the first anchoring area and the second anchoring area than the change caused by the force generated by the activated SMA alone. Therefore, if the change in the longitudinal distance caused by the generated force is related to a decrease (e.g., due to mechanical contraction), the external force may allow the resulting decrease in the longitudinal distance to be even greater (i.e., the decrease is greater). Conversely, if the change in the longitudinal distance caused by the generated force is related to an increase (e.g., due to mechanical expansion), the external force may allow the resulting increase in the longitudinal distance to be even greater (i.e., the increase is greater).

[0047] When the generated force has a vector component that acts in a direction opposing the external force, the generated force acts to resist the associated external movement caused by the external force. In this case, the external force may cause a change in the longitudinal distance between the first anchoring area and the second anchoring area that decreases compared to the change caused by the force generated by the activated SMA alone. In this case, if the change in the longitudinal distance caused by the generated force is associated with a decrease (e.g., due to mechanical contraction), the external force may allow the resulting decrease in the longitudinal distance to be reduced (i.e., the decrease is smaller). Conversely, if the change in the longitudinal distance caused by the generated force is associated with an increase (e.g., due to mechanical expansion), the external force may allow the resulting increase in the longitudinal distance to be reduced (i.e., the increase is smaller).

[0048] In some cases, when the external force is greater than the generated force, the longitudinal distance may increase.

[0049] In some examples, an associated SMA is controlled to generate a force dependent on the magnitude of the external force or dependent on movement of the associated garment sensed by the external force.

[0050] As will be further explained below, in some examples, the magnitude of the force generated by activating the associated SMA is adjusted to continuously match the magnitude of the external load so that the longitudinal distance between the first anchoring area 11 and the second anchoring area 12 remains constant or substantially constant. This allows force feedback to be provided to a user wearing the garment or garment component. In this way, the garment can be used to counteract the force or stop the movement of a limb fixed to the first anchoring area and / or the second anchoring area when in use. Therefore, the associated SMA can be controlled to generate a force that matches the external force, thereby keeping the longitudinal distance between the first anchoring area and the second anchoring area constant or substantially constant.

[0051] External forces may be associated with forces generated when a user of the garment moves a limb or body part to which the garment is secured.

[0052] The anchoring regions 11 and 12 may be arranged to secure the garment to a specific body part of a subject wearing the garment or garment component. For example, when the anchoring regions are secured to either side of a joint of the body of the subject wearing the garment, such as a finger joint, activation of the associated SMA will act to flex or straighten the associated limb around the joint, depending on the arrangement of the force transfer mechanism.

[0053] The defined activation sequence can be associated with a desired movement and / or orientation of a body part of a subject wearing the garment or garment component. In some examples, the defined activation sequence can be selected and / or controlled by a user. A controller (not shown) is operably coupled to the activation unit 30, which can execute the defined activation sequence in response to input by an operator or user wearing the garment or garment component.

[0054] The controller may be a microcontroller comprising a processor operably coupled to a memory and arranged to execute a plurality of computer executable instructions, which are optionally stored on a non-transitory computer readable medium. The microcontroller may form part of an integrated circuit including a memory and input / output peripherals. The microcontroller operates by executing a program stored in its memory, which controls various functions and operations. Several types of microcontrollers may be used, each with its own set of features, capabilities, and applications. For example, some microcontrollers are designed for low power consumption, which makes them ideal for battery-powered devices, while other microcontrollers are optimized for high performance, making them suitable for demanding applications. For the purposes of this disclosure, the controller may be any available microcontroller that is suitable for processing sensor information from any sensor of a garment component and is suitable for controlling the operation of the activation unit according to set instructions.

[0055] The processor may be operably coupled to the control circuit for controlling the operation of the activation unit 30. In some examples, the control circuit forms part of the activation unit 30.

[0056] The control circuit may be arranged to control the intensity of the stimulation of the associated activation unit 30. Depending on the type of activation unit and associated SMA, the stimulation intensity may be related to the light, the voltage level for a dielectric or electrically confined elastomeric actuator (DEA) for a photoresponsive SMA, a conductive polymer actuator (CP) or an electroactive polymer actuator (EAP) or the magnetic flux for a magnetostrictive actuator (MA).

[0057] In some examples, the controller can derive the activation sequence based on sensor information accessed by the controller. For example, the sensor information can include strain sensor information from one or more strain sensors that sense the degree of bending of the garment. Alternatively or additionally, the sensor information can include accelerometer or gyroscope information from one or more accelerometers or gyroscopes attached to the garment.

[0058] Optionally, the sensor information may include electroencephalogram (EEG) or electromyogram (EMG) information.

[0059] Based on the sensor information, the controller can be configured to control (e.g., adjust or modulate) the intensity of the stimulation, the percentage of SMA material stimulated, or the proportion and direction of change of the SMA material stimulated to produce a desired force or longitudinal distance displacement between the first anchoring region and the second anchoring region.

[0060] In some examples, the sensor technology used can utilize base stations (which can be placed around a room to spatially sense full body movement, and the sensed data can then be accessed by a control unit, such as via Bluetooth, to control the SMA), ultrasonic vibration sensors, VR headset tracking cameras, strain sensors on gloves, and artificial intelligence (AI) motion tracking and motion capture technology.

[0061] In some examples, garment 10 includes fabric having first and second anchoring regions fixedly attached thereto. At least one of the respective anchoring regions may be fixedly attached to the fabric via a suitable attachment means, such as using bolts, rivets, seams, Velcro, or any other known suitable attachment means.

[0062] In some applications, at least one anchoring region may form part of a fingertip of a garment component, wherein the fingertip is secured to a corresponding fingertip of the subject.

[0063] In some examples, the respective anchoring areas may be arranged at predetermined locations in the garment, where the locations correspond to the locations of the subject's body joints when the subject wears the garment.

[0064] The fabric may also be fixedly or releasably attached to one or more SMAs.

[0065] In some examples, the fabric may be made from any conventional clothing material, such as, but not limited to, cotton, polyester, wool, nylon, spandex, and / or breathable clothing fabrics.

[0066] In some examples, the garment forms an exoskeleton or exosuit.

[0067] In some examples, such as reference Figure 2 As shown, each SMA in the sequence is directly attached to one or more SMAs. Alternatively or additionally, each SMA in the sequence can be directly attached to one or more anchoring regions, as shown in FIG. Figure 3 and Figure 4 Each SMA may be directly attached to one of the other SMAs or anchoring regions at its first longitudinal end 21a', 21b' or second longitudinal end 21a", 21b".

[0068] In some examples, each SMA is attached directly to the next SMA in sequence and / or to associated anchoring areas 11 and 12 using adhesives, seams, clips, zippers, buttons, hooks, etc.

[0069] However, in an alternative example, at least one of the SMAs may be attached to an adjacent SMA or anchoring region via a connecting rod. Figures 1 to 4The link member forms part of the force transfer mechanism 20 , which is schematically shown as a solid line attaching the SMA to the respective anchoring region, which in turn is directly attached to the SMA and the adjacent SMA or anchoring region.

[0070] The number of links used may depend, for example, on the physical distance between two connected anchoring areas in the idle state and the number and associated sizes of the SMAs that are sequentially connected between these anchoring areas. The number of SMAs may then be selected based on the desired magnitude of force generated between the anchoring areas when each SMA is activated. For example, referring to Figure 1 Three links are shown, with reference to Figure 2 and Figure 3 b shows two connecting rods, while reference Figure 3 a shows a connecting rod.

[0071] The link of the force transfer mechanism may extend along or parallel to the longitudinal direction or axis (L) between the first and second anchoring regions in which the respective SMAs are sequentially connected. For this purpose, the link of the force transfer mechanism may be referred to as a longitudinal link.

[0072] For example, considering a garment assembly having two connected anchoring areas 100 mm apart in the longitudinal direction or axis in the idle state and having four SMAs each measuring 20 mm, the resulting 20 mm of space in 100 mm (i.e., 100 mm - 4 * 20 mm = 20 mm) can be provided with one or more longitudinal links.

[0073] The force transfer mechanism is formed by the associated SMAs, their associated attachments to other SMAs or anchoring regions, and any optional linkages.

[0074] The basic idea of ​​the force transfer mechanism is to provide minimal slack for each set of sequential SMAs connected between associated anchoring regions. In this way, most of the force generated when the SMAs are activated (e.g., up to 95%) can be transferred from the associated SMAs to the anchoring regions. In some examples, the force transfer mechanism has a force transfer efficiency of about 85% to about 95%. Although 100% force transfer efficiency is ideal, in practice, there will always be efficiency losses due to undesirable deformation of the force transfer mechanism or adjacent materials connected thereto, resulting in an overall force transfer efficiency that is lower than the ideal value.

[0075] In some examples, one or more links may include at least one of a fiber, yarn, cable, or wire having an elastic modulus δ = stress / strain, such as Young's modulus, above a predetermined threshold.

[0076] The predetermined threshold may be set above the force generated by the associated SMA so as to limit the tendency of the link to deform along the longitudinal axis where the SMA sequentially connects between the first 11 and second 12 anchoring regions when the SMA is activated.

[0077] In one example, one or more connecting rods can be made of a material that is rigid, non-flexible or non-elastic along its longitudinal direction at least to a certain extent. When the associated SMA is activated and / or deactivated, this allows the associated connecting rod to transmit the generated force along or parallel to the longitudinal direction. However, it should be understood that one or more connecting rods can be made of a material with a certain degree of compliance or damping properties. Compliance or damping properties can be used to smooth the sudden movement caused by the activation / deactivation of adjacent SMAs. Therefore, although rigidity, non-flexibility and / or inelasticity can be considered as the main material properties, thereby allowing the corresponding connecting rod member to efficiently transmit the force generated by the contraction or expansion of the connected SMA, it should be understood that the material does not have to be completely, completely or 100% rigid, non-flexible or inelastic. However, it should be noted that excessive increase in compliance will have an adverse effect on the force transmission capacity of the connecting rod member. These connecting rods can be strong enough to withstand the impact of the maximum composite force, such as 4.5kg per finger. On the other hand, the connecting rod can have a certain degree of flexibility along any non-longitudinal direction. For example, a cable-like linkage may be preferred over a pushrod-type linkage for this reason.

[0078] The connecting rod may have a first end and a second end opposite the first end. The respective ends of the connecting rod may be arranged to be anchored to the anchoring regions 11, 12, or to the longitudinal ends of one SMA in a series of SMAs forming an SMA group. In some examples, an adhesive or a mechanical attachment (such as a seam) is used to anchor the connecting rod.

[0079] In some examples, reference Figures 1 to 4 As shown, the force transfer mechanism 20 includes at least one of the following: a first link 20a, which is connected between the first anchoring area and the SMA that is closest to the first anchoring area 11 in sequence and is attached to the first anchoring area and the SMA; a second link 20b, which is connected between two nearest adjacent SMAs and is attached to these SMAs; a third link 20c, which is connected between the second anchoring area and the SMA that is closest to the second anchoring area in sequence and is attached to the second anchoring area and the SMA.

[0080] In some examples, such as reference Figure 5 As shown, the force transfer mechanism may not include any linkages, whereby each SMA 21a to 21g in the sequence is directly attached to another SMA and an anchoring region or two adjacent SMAs.

[0081] In an alternative example, the force transfer mechanism may be further connected to a damper arranged to dampen a reduction in the longitudinal distance between the associated anchoring areas 11, 12 when the associated SMA 21a-21g is activated. The damper may include a tension spring (not shown) or an elastic band or the like, which smoothes any sudden relative movement between the first anchoring area 11 and the second anchoring area 12. This in turn allows the associated body part fixed to the respective anchoring area to move smoothly when the associated SMA is activated. For example, the damper may be attached in sequence between the first anchoring area and the first SMA. Thus, each SMA group may be connected to a damper arranged to attenuate the force generated when the associated SMA is activated, thereby smoothing any sudden reduction in the longitudinal distance.

[0082] refer to Figure 5 and Figure 6 , the first sequential SMA group 21a-21g can be formed as a strip or ID array of discrete SMAs. In some examples, the strip or array can include a membrane 22 (e.g., a film) that seals the SMAs. In this way, the film forms one or more links of the force transfer mechanism. The film can be selected from a material configured to allow conformity to the curvature of the human body.

[0083] For example, the membrane may comprise a coating (such as a clear coating) or a plastic film applied over the SMA array, wherein the clear coating or plastic film is arranged to transmit the actuation force through its structure.

[0084] In some examples, the film can be coated to act as a light guide, allowing light to be contained within the film. This is particularly advantageous when the SMA is a photoresponsive material that can be activated by light. Using the film as a light guide while also acting as a linkage member of the force transfer mechanism can achieve a lightweight solution.

[0085] In some examples, the film thickness may range from 200 nm to 1 mm.

[0086] Figure 7a FIG. 2 shows an example in which the first SMA groups 21a-21e connected in sequence are in an idle state (ie, inactive state). In the idle state, the longitudinal distance between the first anchoring area 11 and the second anchoring area 12 is denoted by D I In this example, the corresponding SMA is configured to mechanically contract when activated. When activated by an activation unit (not shown), the corresponding SMA 21a-21e mechanically contracts, such as Figure 7bAs shown. In the absence of external force or the external force is less than the external force generated by the activation of the associated SMA, since the SMA 21a-21e is physically connected to the anchoring area by the force transmission mechanism 20, and in this example is connected to the anchoring area via multiple links 20a-20c of the force transmission mechanism, the force generated by the mechanical contraction is transmitted to the corresponding anchoring area. This in turn serves to pull the first anchoring area 11 and the second anchoring area 12 towards each other, whereby the longitudinal distance between the anchoring areas in the activated state is reduced compared to the idle state. The resulting reduced longitudinal distance between the first anchoring area 11 and the second anchoring area 12 in the activated state is Figure 7b D A Indicates. Figure 7a and Figure 7b It can be seen that the longitudinal distance D A Significantly smaller than the longitudinal distance D I However, when an external force is present, such as an external force acting in an opposite direction to the generated force and of equal magnitude to the generated force, the longitudinal distance can remain constant or substantially constant, as discussed above.

[0087] In an alternative example where the respective SMA is configured to mechanically extend upon activation, the longitudinal distance between the first anchoring region 11 and the second anchoring region 12 increases upon activation. In such an example, Figure 7b Can refer to idle, inactive state, and Figure 7a Indicates the activation status.

[0088] Figure 8 A side view of a portion of a garment assembly 100 according to an example is shown. In this example, the corresponding SMA is configured to mechanically contract when activated. Here, the garment is a finger glove, wherein the first anchoring zone is arranged at one end of the fingertip of the glove. The position of the first anchoring zone 11 in this example corresponds to the position on the fingertip side of the proximal interphalangeal joint (PIP) of the finger of the subject wearing the garment or garment assembly 10 when in use. The second anchoring zone 12 is arranged at the other end of the garment 10, for example, around the wrist of the subject wearing the garment or garment assembly. Several SMAs 21a–21f are arranged in sequence between the first anchoring zone 11 and the second anchoring zone 12. The SMA is connected via a plurality of connecting rods. At least one of the connecting rods (for example, the connecting rod between the first anchoring zone 11 and the SMA 21f) includes a wire that acts as a force transmission wire. The force transmission wire has a fixed length and has a tensile strength higher than the resultant force generated by the SMA when activated. In this way, when the associated SMA 21a-21f is activated, the length of the force transmission wire will remain constant or substantially constant. Figure 8 , the associated SMA is in its corresponding idle state. In this case, the finger sleeves of garment 20 are in a bent configuration. Figure 8The lower half of shows the case where the SMA has been activated by the activation unit 30 (not shown). Upon activation, the SMA mechanically contracts, which causes the length of the force transmission mechanism and the distance between the first anchor point and the second anchor point to shorten by ΔD = D I -D A (and Figure 7a 7B). Thus, while the individual lengths of the links remain constant upon activation, the reduction in length of the force transfer mechanism is entirely attributable to the mechanical contraction of the SMA. The mechanical contraction generates a force that pulls the first anchoring region 11 toward the second anchoring region 12 or the second anchoring region 12 toward the first anchoring region 11. In use, when the subject wears the garment, the first anchoring region 11 will move toward the second anchoring region 12 because the mass of the fingertip securing the first anchoring region 11 toward the glove tip outside the first anchoring region is less than the mass of the subject's body outside the second anchoring region. Figure 8 shown.

[0089] In an alternative example where the respective SMA is configured to mechanically extend upon activation, the longitudinal distance between the first anchoring region 11 and the second anchoring region 12 increases upon activation. In such an example, Figure 8 b can refer to idle, inactive state, and Figure 8 a indicates the activated state.

[0090] refer to Fig. 9 In order to generate increased force between the first anchoring area 11 and the second anchoring area 12, a second sequential SMA group 21a', 21b' (optionally formed as a second strip or a second ID array) can be connected to the first anchoring area 11 and the second anchoring area 12, and laterally spaced apart from the first anchoring area and the second anchoring area of ​​the first SMA group.

[0091] In some examples, the second sequential SMA group can be arranged in parallel with the first SMA group. Fig. 9 Such an example is shown.

[0092] The second sequential SMA group can be laterally separated from the first group. This means that no part of the second group is attached to the first group unless indirectly attached via the first anchoring region and the second anchoring region. Separating the first group from the second group laterally allows the forces generated by each SMA group to act substantially only along the longitudinal direction of the sequential SMA connection.

[0093] It can be said that at least two laterally separated sequential SMA groups form a 2D array of laterally separated sequential SMAs. The lateral link can further include at least one SMA configured to adjust the lateral distance between the two laterally separated SMA groups (such as by mechanically contracting to reduce the lateral distance or by mechanically expanding to increase the lateral distance when activated or deactivated).

[0094] In an alternative example, two or more SMA groups can be attached to each other laterally via lateral links to form a 2D array. The lateral links can allow the SMA groups to maintain a desired lateral spacing when activated in parallel. In this way, the lateral attachments can provide lateral stability to both groups when activated. This is particularly advantageous when two or more groups are designed to be activated in parallel, as this allows for minimization of tilting or splaying of adjacent SMAs compared to when each group is activated while the adjacent group is idle.

[0095] It can be said that at least two laterally attached sequential SMA groups form a 2D array of laterally attached sequential SMAs.

[0096] Thus, depending on the application, the first SMA group 21a - 21g and one or more second SMA groups 21a ′ - 21g ′ may be arranged in an array, where an SMA group may be laterally separated or laterally attached to another SMA group in the array.

[0097] In some examples, each SMA group in the array is arranged in parallel with the other SMA groups, whereby the corresponding SMAs in each group are connected sequentially along the same direction, such as the longitudinal direction (L) extending between the first and second anchor regions 11 , 12 .

[0098] In some examples, the associated SMAs in each of the second SMA groups 21a'-21g' sequentially connected between the first anchoring region 11 and the second anchoring region 12 can be sequentially connected along a second direction (L') between the first anchoring region and the second anchoring region. The second direction of the second SMA group can be different from the first direction of the first SMA group, as shown in FIG. Fig.10 shown.

[0099] In some examples, reference Fig.11 , the second SMA group 21a'-21g' is formed into a laterally separated or laterally attached array, the array including at least one additional second sequentially connected SMA group 21a''-21g'' arranged parallel to the second direction (L'), and the first SMA group 21a-21g is arranged along the first direction (L), wherein the first direction (L) is different from the second direction (L').

[0100] In some examples, a combination of laterally separated and laterally attached SMA arrays may be used.

[0101] In some examples, one or more first SMA groups are disposed in a first layer of a garment and one or more second SMA groups are disposed in a second layer of the garment, wherein the second layer at least partially overlaps the first layer.

[0102] The SMAs of each layer can be arranged sequentially along a set direction, which direction can be different from the direction in which the SMAs of the adjacent layers are arranged sequentially. Arranging the SMAs in layers can increase the density of the SMAs, thereby being able to generate greater forces when more SMAs are activated simultaneously. In addition, when the SMAs are arranged in layers, wherein each layer includes SMAs connected sequentially along a direction different from the direction in which the SMAs of the adjacent layers are arranged sequentially, a torsional force can be generated, which can assist in the rotation of an associated body part or limb of a subject wearing a garment or a garment assembly. Therefore, when activating the SMAs of each layer having SMAs connected sequentially along different directions, the associated body part or limb will be pulled in different directions at the same time, thereby generating a force having a longitudinal component and a force having a lateral component, thereby generating a total torsional force.

[0103] In some examples, the respective anchoring regions 11, 12 may be arranged to surround a body part of a subject when in use. For example, the anchoring region may form a collar or sleeve that is arranged to be fixed to an associated body part or limb of a subject wearing the garment or garment assembly when in use.

[0104] In some examples, the collar may be formed from a stretchable fabric that is arranged to form a friction fit with the associated body part when the body part or limb is inserted into the anchoring region comm.

[0105] At least one anchoring area may be arranged in the sleeve of the garment, such as in reference Figure 4 a and Figure 4 As shown in b, the sleeve, when in use, surrounds a body part or limb of a subject wearing the garment or garment component.

[0106] The anchoring area can be secured to the body, for example, using elastic garters, a belt ratchet type mechanism (similar to the mechanism used for bag strap adjustment), Velcro in combination with elastic bands, buttons, non-slip silicone and / or zippers. In some alternatives, the anchoring areas or their corresponding garment attachment points can be modular, such as interchangeable, allowing attachment points or types to be swapped in a modular manner (such as replacing Velcro attachment points with hook-type attachment points) to accommodate a particular design. This enables a variety of attachment types for garments or garment components, including but not limited to: Velcro, laces or strings, screws, nuts and bolts, buckles, hooks, etc.

[0107] In some examples, the first anchoring area 11 and / or the second anchoring area 12 may further include at least one second SMA 111, 121, which is arranged to mechanically contract in its activated state to secure the garment to a corresponding body part of the subject, or alternatively provide force feedback to the subject by generating a force that reacts to an external force applied by the subject to the garment. Fig.12An example is shown where the second anchoring region 12 includes a plurality of sequential SMAs 121a-121e and at least one SMA 111a arranged in the first anchoring region 11. When the anchoring region is arranged in a sleeve of a garment, this allows the inner circumference of the sleeve to be reduced by the forces generated when the associated SMAs mechanically contract in the absence of external forces exceeding the generated forces, thereby reducing the diameter of the sleeve, which in turn provides a secure fit with the associated body part or limb. When an external force is present, the forces generated by the SMAs can provide force feedback that simulates tactile sensations, such as pressure on a subject wearing the garment or garment component.

[0108] Alternatively, the corresponding SMA of the corresponding anchoring area can be configured to expand mechanically in its activated state. Once activated, this will allow the anchoring area to relieve the force or pressure sensed by the main body of the wearing garment or garment assembly to provide a looser (i.e., less firm) fit. When the garment assembly is not operated to trigger, promote or resist movement when worn (such as when in standby mode), this may be particularly advantageous. It should be understood that a combination of an SMA that mechanically contracts during non-mechanical stimulation and an SMA that mechanically expands during activation can be utilized. In some examples, the garment assembly includes at least two SMAs, wherein at least one SMA in at least two SMAs is configured to mechanically contract during activation, and at least one SMA in at least two SMAs is configured to mechanically expand during activation. In some examples, at least two SMAs can be arranged sequentially between the first anchoring area and the second anchoring area. In some examples, at least two SMAs can be arranged sequentially in the anchoring area. Alternatively, at least two SMAs can be provided individually (i.e., not sequentially) in the garment assembly.

[0109] It should be understood that according to some examples, a garment component may utilize a combination of different types of SMAs, such as the combinations explained in detail below. For example, a combination of a dielectric SMA and a photoresponsive SMA may be used.

[0110] Furthermore, in some examples, a garment component can include two or more SMAs of the same type but with different properties (e.g., in size, shape, etc.). In this way, the same type of SMA can be customized to behave differently, such as by providing a combination of a high-strength, low-speed SMA and a low-strength, high-speed SMA.

[0111] Fig.13An example of a garment 10 comprising a forearm sleeve with a glove is illustrated. A plurality of groups of SMAs 21a-21j to 21a''''-21j''' are sequentially connected between respective first anchoring areas 11a-11e arranged at the fingertips of the glove and second anchoring areas 12 arranged around the forearm portion of the garment 10. At least a portion of the links in each group comprises a wire, such as a force transmission wire, which can be slidably guided via one or more guide areas 20. Each guide area 40 may include one or more guide members, such as channels, rings or hoops (in Figures 13 to 16 The force transmission wires may be slidably extended through the guide members (shown as black dots in FIG. 1 ). The guide area may be configured to prevent any undesired unraveling by guiding the wires along a predefined direction, which in turn triggers, promotes or resists movement of muscles of a person or animal wearing the garment assembly along the predefined direction. One end of the force transmission wire may be attached to the respective first anchoring area 11a-11e, with the other end attached to one of the SMAs in the respective group.

[0112] In a preferred example, the smart actuator is a light-responsive actuator. The light-responsive actuator can be a photoactive polymer monomer, such as 2,4-dihydroxy-4-nitroazobenzene or 2,4-dihydroxy-4-azo-(4-nitroazobenzene)benzene. The inventors have recognized through various experiments that these photoactive polymer monomers provide appropriate specific strengths sufficient to extend to macroscopic scale actuation, thereby achieving fast response rates and / or enabling any electronic device to be safely isolated from the subject wearing the garment or garment component when activated by light.

[0113] Alternatively or additionally, the photoresponsive SMA material may also be selected from photoresponsive or photoactive acrylates, such as azobenzene monomer acrylates. For example, 7-((4-((2-cyano-4-nitrophenyl)diazenyl)phenyl)(ethyl)amino)heptyl acrylate may be used.

[0114] Alternatively or additionally, the photoresponsive SMA material may also be selected from photoresponsive or photoactive stilbene monomers, such as distilbene monomers. For example, 4,4'-((propane-2,2-diylbis(4,1-phenyl)bis(oxy)bis(4,1-phenyl))bis(ethylene-2,1-diyl))diphenylamine may be used.

[0115] For the preferred example where the smart material actuator is of a light-responsive type, the activation unit comprises a light source for sending light to activate each SMA.

[0116] In some examples, the activation unit includes a plurality of light sources provided in a certain configuration, for example, an array corresponding to an array of SMA groups. Fig.14 The activation unit 40 includes a plurality of LED light strips, Fig.13The shape of each SMA group is consistent. Fig.13 In the example, the garment assembly includes five LED strips. However, it should be understood that any number is possible. In some examples, the number of LED strips is less than the number of SMA groups, whereby each LED strip can be used to activate more than one SMA group.

[0117] The activation unit 30 may further include a light guide (e.g. Figures 1 to 5 ), the light guide is arranged to receive light from the light source and direct the received light to one or more SMAs.

[0118] Using an intrinsically flexible light guide, the respective light guide may be arranged at a predetermined distance and in a predetermined orientation relative to one or more SMAs in an idle state.

[0119] In some examples, the light guides are physically separated from the corresponding sequential SMA sets.

[0120] The activation unit 40 may include a light emitting diode (LED) panel, such as a flexible LED panel, as shown in FIG. Fig.15 shown.

[0121] In some configurations, the LED panel or flexible LED panel may include at least one LED for each SMA, wherein the one or more LEDs of the LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA. However, in alternative examples, the spatial configuration of the LEDs of the LED panel may be different from the spatial configuration of the SMA. Therefore, a one-to-one spatial configuration match may not be required between each SMA and the corresponding LED of the LED panel. Instead, one or more LEDs in the LED panel that substantially covers any associated SMA may be activated to activate the corresponding SMA, or the corresponding SMA may be activated to activate the one or more LEDs.

[0122] In some configurations, an LED panel or flexible LED panel may include fewer LEDs than SMAs, such that a single LED may activate multiple SMAs.

[0123] Alternatively, the activation unit may comprise one or more LEDs attached to a flexible printed circuit board (PCB), the LEDs being arranged in close proximity to an associated photo-responsive SMA.

[0124] One or more LEDs or LED panels may be attached to the garment at the location of the associated SMA.Alternatively or additionally, the SMA may be remotely activated, such as via a laser.

[0125] In applications where at least one SMA is a light-responsive actuator, for activation, the activation unit is arranged to send a non-mechanical stimulus comprising light to the SMA. Here, the activated state of the SMA is triggered by receiving light from the activation unit.

[0126] The deactivated state of the SMA refers to a state in which no light is sent to the SMA. Therefore, in order to trigger the deactivated state, the activation unit is controlled to stop sending light.

[0127] Generally speaking, a photoresponsive material (such as one of the materials disclosed herein) will tend to return to its original idle state when deactivated. If an SMA expands mechanically when activated, the associated activated length of the SMA will increase compared to the length in the unactivated state (provided that there is no external load preventing its expansion, and there is no external load preventing its expansion). Upon deactivation from an activated state, the length of the SMA will decrease (provided that there is no external load preventing its contraction, and there is no external load acting to counteract the contraction) and return to the length in the deactivated state.

[0128] Due to mechanical contraction and / or mechanical expansion, forces are generated between the anchoring regions. During mechanical expansion, the associated generated forces serve to push the anchoring regions further apart. During mechanical contraction, the associated generated forces serve to pull the anchoring regions toward each other. In other words, upon activation of the SMA, the generated forces will act on the respective anchoring regions to which the SMA is attached.

[0129] Factors or parameters that influence whether a photoresponsive SMA, when activated (ie, upon receiving light), acts to mechanically contract or mechanically expand may include at least one of the following:

[0130] • Type of SMA material and / or its material composition;

[0131] •The wavelengths transmitted and received by the SMA;

[0132] • Light intensity; and

[0133] •Polarization of light, including the associated polarization angle.

[0134] In some examples, the LEDs of the LED panel can be arranged to transmit blue, ultraviolet and / or green light or any wavelength or combination of wavelengths between 100 nm and 1000 nm. In some examples, blue, ultraviolet and / or green LEDs are alternated above the LED panel.

[0135] As an example, for at least some of the photo-responsive actuators mentioned above, some wavelengths are particularly effective for causing a change in chirality (ie, a complex shape change).

[0136] Depending on the type of photo-responsive actuator, a selected shorter wavelength, such as an ultraviolet (UV) wavelength (< 400nm) or a blue wavelength at the end of the visible spectrum, may result in mechanical contraction. Longer wavelengths, such as green wavelengths (approximately 550nm), may result in mechanical expansion of the photo-responsive actuator. Wavelengths between UV and green, such as the blue wavelength range (400nm–550nm), may result in either mechanical contraction or mechanical expansion, depending on the type of SMA selected. Emitting light at these wavelengths may allow fine-tuning of the expansion in terms of mechanical contraction and / or percentage contraction. The choice of wavelength may also affect the responsivity, as some types of photo-responsive SMAs are more sensitive to particular wavelengths. Furthermore, certain wavelengths may be advantageous for causing long-term shape changes in the associated SMA, while other wavelengths may only allow short-term shape changes in the associated SMA after an activation unit that uses the wavelength to emit electromagnetic radiation is deactivated.

[0137] In one example, as referenced Fig.16 As illustrated, the activation unit 30 is a luminescent film or panel.

[0138] In some examples, the light source may be an external light source that is remotely arranged. For example, the light source may be a laser.

[0139] Alternatively, a thin film light source may be formed using an electroluminescent paint forming part of the activator unit, wherein light is emitted when the paint is electrically stimulated by electrodes.

[0140] Other examples of thin light sources may be one or more light guides coupled to optical fibers which are then coupled to one or more lasers or LEDs. Alternatively or additionally, the thin film may include quantum dots embedded therein. The quantum dots may be driven by electricity, for example using a controller of the activation unit, to produce light which is then used to activate the SMA. Alternatively or additionally, bioluminescence, where light is emitted by an organism, or chemiluminescence, where light is produced due to a chemical change / reaction, may also be used as a light source.

[0141] In an alternative example, the SMA may also be selected from the group consisting of a dielectric or electrically confined elastomeric actuator (DEA), a conductive polymer actuator (CP), an electroactive polymer actuator (EAP), a magnetostrictive actuator (MA), a shape memory polymer (SMP) such as a light activated SMP (LASMP).

[0142] In some examples, the activation unit 30 may be releasably or fixedly attached to the garment. Arranging the activation unit 30 in a fixed relationship with the corresponding SMA may be advantageous for certain types of SMAs, such as light-responsive SMAs, where overall efficiency is improved when light is directed to each SMA from a specific angle and intensity.

[0143] For example, the activator unit may be provided in a location that minimizes bulk and interference with movement, such as attached to a belt of a subject wearing the garment or garment component, or attached to an arm of a subject wearing the garment or garment component.

[0144] In some examples, the activation unit 30 is arranged differently from the garment. For example, the activation unit can be arranged to be fixed to a body part of a subject wearing the garment or garment component.

[0145] In some examples, the activation of the SMA can also allow force feedback to be provided to the person wearing the garment or garment component. For example, in some applications, the garment can be used as a virtual reality (VR) garment. When a virtual object collision is detected, the activation unit that controls the activation of the associated SMA (e.g., using a controller) can be controlled to maintain a constant longitudinal distance, even if the person wearing the garment or garment component actively attempts to move the limb that fixes the garment. Using sensor data from a sensor (such as an accelerometer as described above), the controller can detect and access limb movement. When accessing the sensor data, the controller can be configured to activate the SMA so that the longitudinal distance of the force transfer mechanism remains substantially constant. This will generate a force that blocks the person's force, that is, the force feedback experienced by the person. For example, suppose the garment is a VR glove and the person wearing the garment holds a virtual apple in his hand. When the apple is touched, the controller detects a body collision. The associated SMA is activated, thereby providing force feedback, making it feel as if the person is really holding an apple. If the person tries to clench his hand, the controller based on the sensor input information will prevent such movement by sending a control signal to the activation unit, keeping the associated longitudinal distance of the force transmission mechanism constant or substantially constant, thereby making the person experience a larger force, just like in real life.

[0146] As an alternative method of controlling the SMA to maintain a constant longitudinal distance, the SMA may be controlled based on actions or events occurring or objects encountered in a virtual world (e.g., in a computer game) to control the longitudinal distance. As an example, still assuming that the garment assembly has parts such as Figures 1 to 5 and Figures 8 to 16 The glove portion depicted, and returning to the apple example above, imagine that the apple explodes after being held in the character's hand. When it explodes, the longitudinal distance may change (e.g., increase) so that the user feels the explosion. Alternatively, imagine an example where the apple rots or shrinks while the character is holding it, which may cause the longitudinal distance to change in the opposite direction, so that the person wearing the clothing component feels that the apple has become smaller or less dense. Therefore, in some examples, the SMA can be controlled by events or actions in a virtual world (such as a computer game), thereby providing force feedback to the user to make the virtual experience more immersive.

[0147] The electrical components of the garment component (e.g., controller and / or activation unit) can be powered by a power source or battery pack optionally worn by the subject wearing the garment or garment component. In some examples, the power pack is configured to be attached to the garment. The power pack may include one or more batteries, such as rechargeable batteries. Any conventional battery, such as lithium-ion batteries, etc., can be used.

[0148] In some examples, the garment component can include at least one solar panel operably coupled to a power source or battery pack or directly coupled to the controller and / or activation unit.

[0149] Alternatively or additionally, the circuit system of the garment component (including the controller and activation unit, etc.) can be powered by a non-portable energy source (such as the power grid). In some examples, the garment component includes a power cord for plugging into the power grid, such as via a normal wall socket, etc.

[0150] In some examples, the garment component further includes a human machine interface (HMI) connected to the controller, the human machine interface (HMI) allowing a user or subject wearing the garment or garment component to interact with the controller. The HMI may include a power on / off function.

[0151] Alternatively or additionally, the HMI interface may include a wireless communication interface, such as Bluetooth, WIFI, or NFC, to allow a user or clinician to control the operation of the controller. For example, a clinician may adjust parameters such as range of motion and resistance using a smartphone application or PC operably coupled to the wireless communication interface.

[0152] The HMI may include physical or touch buttons to control various operating modes or functionalities of the controller. The HMI may further include a display unit, such as a touch screen, which allows the display of information related to power status, battery life, or optional biometric data collected from various biometric sensors (such as heart rate, step count). LED indicators may also be integrated into the HMI to indicate power status (on / off), etc.

[0153] The activation sequence can be programmed to follow certain exercise movements for rehabilitation purposes. Alternatively, the activation sequence can be programmed by the clinician or patient to fine-tune the biomechanical parameters to meet the needs of each patient's active movement. The activation sequence can also be programmed to assist the subject's own movement, thereby assisting with weight lifting exercises, etc. For example, the controller can be programmed to allow the required amount of assistance to be adjusted according to a scale such as between 0% and 100%, such as via a smartphone application connected to the wireless communication interface.

[0154] Although the above examples are described with reference to a garment assembly adapted to facilitate or resist movement of a subject (i.e., a human) wearing the garment assembly, it should be understood that the garment assembly may alternatively be adapted and designed to facilitate or resist movement of any animal (such as for veterinary or rehabilitation purposes) to which the associated garment is tailored. In other words, the configuration of the SMA, anchoring area, and associated force transfer mechanism of the garment assembly disclosed herein may act as an artificial muscle that triggers, facilitates, or resists muscle movement of a subject wearing the garment assembly.

[0155] In addition, when the garment component is worn by an inanimate object or creature, the garment component can also be used to promote or resist the movement of the inanimate object or creature (such as a robot or toy). In this way, the configuration of the SMA, anchoring area, and associated force transfer mechanism of the garment component disclosed herein can act as an artificial muscle to trigger, promote, or resist the movement of an optional actuator of an inanimate object wearing the garment component.

[0156] Clothing components may be designed (in size and shape) to be worn by any living or inanimate creature to facilitate or resist movement.

[0157] In some examples, the corresponding anchoring area, the SMA and the associated force transfer mechanism form an actuator assembly. Therefore, the actuator assembly can be provided as a separate component different from the garment, rather than the garment comprising the corresponding anchoring area, the SMA and the associated force transfer mechanism by the garment. The actuator assembly can be arranged to be attached to the garment to form a garment assembly. The actuator assembly can be attached to the garment at the location of the corresponding anchoring area or via the corresponding anchoring area. The actuator assembly can further include an activation unit.

[0158] Terms

[0159] Various examples of the present disclosure will now be explained with reference to the following clauses.

[0160] Clause 1. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising:

[0161] a garment having a first anchoring region and a second anchoring region, each anchoring region being used to secure the garment to a respective body part of the subject when in use;

[0162] at least two first smart material actuators (SMAs), the at least two first smart material actuators (SMAs) being sequentially connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0163] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0164] wherein each SMA is arranged to operate in an idle state and an activated state triggered by a non-mechanical stimulus causing the associated SMA to mechanically contract; and

[0165] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0166] Clause 2. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising:

[0167] a garment having a first anchoring region and a second anchoring region, each anchoring region being used to secure the garment to a respective body part of the subject when in use;

[0168] at least two first smart material actuators (SMAs), the at least two first smart material actuators (SMAs) being sequentially connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0169] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0170] wherein each SMA is arranged to operate in an idle state and an activated state triggered by a non-mechanical stimulus that causes the associated SMA to mechanically expand; and

[0171] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0172] Clause 3. A garment assembly according to clause 1 or 2, wherein the defined activation sequence is associated with a desired movement and / or orientation of a body part of the subject wearing the garment.

[0173] Clause 4. The garment assembly of any one of Clauses 1 to 3, further comprising a fabric, the first anchoring region and the second anchoring region being fixedly attached to the fabric.

[0174] Clause 5. The garment assembly of Clause 4, wherein each SMA is fixedly or releasably attached to the fabric.

[0175] Clause 6. The garment assembly of any of the preceding clauses, wherein the force transfer mechanism comprises one or more links, wherein each link comprises at least one of a fiber, a yarn, a cable, a wire, a film, or a strip.

[0176] Clause 7. The garment assembly of Clause 6, wherein the one or more links are of a material that is at least partially rigid, non-flexible, or inelastic.

[0177] Clause 8. The garment assembly of any of the preceding clauses, wherein the force transfer mechanism comprises a first end anchored to the first anchoring area or the second anchoring area and a second end attached to at least one of the sequential SMAs.

[0178] Clause 9. The garment assembly of any one of clauses 6 to 8, wherein the force transfer mechanism comprises at least one of the following:

[0179] a first link connected between the first anchoring region and the SMA that is sequentially closest to the first anchoring region and attached to the first anchoring region and the SMA;

[0180] a second link connected between and attached to two nearest neighboring SMAs, and

[0181] Third Link The third link is connected between the second anchoring region and the SMA that is sequentially closest to the second anchoring region and is attached to the second anchoring region and the SMA.

[0182] Clause 10. A garment assembly as recited in any preceding clause, wherein the at least two sequentially connected SMAs form part of a laterally separated or laterally attached SMA array comprising more than one SMA group.

[0183] Clause 11. A garment component according to any of the preceding clauses, wherein the first anchoring area and / or the second anchoring area comprises at least one second SMA, wherein the at least one second SMA is arranged to mechanically contract in its activated state to secure the garment to the corresponding body part of the subject or provide force feedback.

[0184] Clause 12. The garment assembly of any of the preceding clauses, wherein each SMA is selected from the group consisting of:

[0185] Light-responsive actuators;

[0186] Dielectric or electrically confined elastomeric actuators (DEAs);

[0187] Conductive polymer actuators (CP);

[0188] Electroactive polymer actuators (EAPs);

[0189] Magnetostrictive actuator (MA); and

[0190] Shape memory polymer (SMP).

[0191] Clause 13. A garment assembly as described in clause 10 or any clause dependent therefrom, wherein the SMA array is provided as a thin film array configured to conform to the curvature of the human body.

[0192] Clause 14. The garment assembly of Clause 13, wherein the membrane comprises a clear coating or plastic film applied over the SMA array, wherein the clear coating or plastic film is arranged to transmit an actuation force through its structure.

[0193] Clause 15. The garment assembly of any preceding clause, wherein the first SMA group is connected sequentially along a first direction between the first anchoring area and the second anchoring area.

[0194] Clause 16. The garment assembly of Clause 15, wherein the first set of SMAs is formed into an array comprising at least one second sequentially connected set of SMAs arranged parallel to the first direction.

[0195] Item 17. The garment component according to Item 15 or 16, further comprising at least two additional smart material actuators (SMAs), wherein the at least two additional SMAs are sequentially connected between the first anchoring area and the second anchoring area and form a second SMA group, wherein the second SMA group is sequentially connected between the first anchoring area and the second anchoring area along a second direction, wherein the first direction is different from the second direction.

[0196] Clause 18. The garment assembly of Clause 17, wherein the second SMA group is formed into an array comprising at least one additional second sequentially connected SMA group arranged parallel to the second direction.

[0197] Clause 19. The garment assembly of Clause 17 or 18, wherein the first SMA group is arranged in a first layer of the garment and the second SMA group is arranged in a second layer of the garment, wherein the second layer at least partially overlaps the first layer.

[0198] Clause 20. A garment assembly as recited in any preceding clause, wherein the activation unit is releasably or fixedly attached to the garment.

[0199] Clause 21. A garment assembly as claimed in any one of Clauses 1 to 19, wherein the activation unit is arranged to be attached, in use, to a body part of the subject wearing the garment.

[0200] Clause 22. A garment component according to any of the preceding clauses, wherein at least one of the SMAs is a light-responsive actuator, and wherein

[0201] The activation unit comprises a light source for sending light to activate at least a portion of the at least one SMA.

[0202] Clause 23. The garment assembly of Clause 22, wherein the activation unit further comprises a light guide arranged to receive light from the light source and direct the received light toward the at least one associated SMA.

[0203] Clause 24. A garment assembly according to clause 22 or 23, wherein the activation unit comprises a light emitting diode (LED) panel, the light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0204] Clause 25. A garment component according to any one of clauses 22 to 24, wherein the activation unit comprises a flexible light emitting diode (LED) panel, the flexible light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the flexible LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0205] Clause 26. A garment assembly according to any one of Clauses 22 to 24, wherein the activation unit comprises one or more LEDs attached to a flexible printed circuit board (PCB).

[0206] Clause 27. A garment assembly according to any one of Clauses 22 to 24, wherein the activation unit comprises one or more LEDs attached to the garment for activating the associated SMA.

[0207] Clause 28. A garment component for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment, comprising:

[0208] A garment having:

[0209] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0210] at least one first smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0211] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0212] wherein the first anchoring region and / or the second anchoring region comprises at least one second SMA,

[0213] wherein each SMA is arranged to operate in an idle state and an activated state triggered in response to a non-mechanical stimulus that mechanically contracts the associated SMA, wherein the at least a second SMA is arranged to mechanically contract in its activated state to secure the garment to the corresponding body part of the subject or to provide force feedback; and

[0214] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0215] Clause 29. A garment component for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment, comprising:

[0216] A garment having:

[0217] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0218] at least one first smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0219] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0220] wherein the first anchoring region and / or the second anchoring region comprises at least one second SMA,

[0221] wherein each SMA is arranged to operate in an idle state and an activated state triggered in response to a non-mechanical stimulus that mechanically expands the associated SMA, wherein the at least a second SMA is arranged to mechanically expand in its activated state to secure the garment to the corresponding body part of the subject or to provide force feedback; and

[0222] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0223] Clause 30. The garment assembly of Clause 28 or 29, wherein the first SMA set comprises at least two first smart material actuators (SMAs) sequentially connected between the first anchoring region and the second anchoring region.

[0224] Clause 31. A garment assembly as recited in any one of Clauses 28 to 30, wherein the defined activation sequence is associated with a desired movement and / or orientation of a body part of the subject wearing the garment.

[0225] Clause 32. The garment assembly of any one of Clauses 28 to 31, further comprising a fabric, the first anchoring region and the second anchoring region being fixedly attached to the fabric.

[0226] Clause 33. The garment assembly of Clause 32, wherein each SMA is fixedly or releasably attached to the fabric.

[0227] Clause 34. The garment assembly of any one of Clauses 28 to 33, wherein the force transfer mechanism comprises one or more links, wherein each link comprises at least one of a fiber, a yarn, a cable, a wire, a film, or a strip.

[0228] Clause 35. The garment assembly of Clause 34, wherein the one or more links are of a material that is at least partially rigid, non-flexible, or inelastic.

[0229] Clause 36. The garment assembly of any one of Clauses 28 to 35, wherein the force transfer mechanism comprises an elastic material having a first end anchored to the first anchoring region and a second end attached to at least one of the sequential SMAs.

[0230] Clause 37. A garment assembly according to any one of Clauses 28 to 36, wherein the force transfer mechanism comprises at least:

[0231] a first link connected between the first anchoring region and the SMA that is sequentially closest to the first anchoring region and attached to the first anchoring region and the SMA;

[0232] A second link is connected between and attached to two nearest neighboring SMAs, and

[0233] A third link is connected between the second anchoring region and the SMA that is sequentially closest to the second anchoring region and is attached to the second anchoring region and the SMA.

[0234] Clause 38. A garment assembly according to any one of Clauses 28 to 37, wherein the at least two sequentially connected SMAs form part of a laterally separated or laterally attached SMA array comprising more than one SMA group.

[0235] Clause 39. The garment assembly of any one of Clauses 28 to 38, wherein each SMA is selected from the group consisting of:

[0236] Light-responsive actuators;

[0237] Dielectric or electrically confined elastomeric actuators (DEAs);

[0238] Conductive polymer actuators (CP);

[0239] Electroactive polymer actuators (EAPs);

[0240] Magnetostrictive actuator (MA); and

[0241] Shape memory polymer (SMP).

[0242] Clause 40. A garment assembly as described in Clause 38 or any clause dependent therefrom, wherein the SMA array is provided as a thin film array configured to conform to the curvature of the human body.

[0243] Clause 41. The garment assembly of Clause 40, wherein the membrane comprises a clear coating or plastic film applied over the SMA array, wherein the clear coating or plastic film is arranged to transmit an actuation force through its structure.

[0244] Clause 42. The garment component of any one of Clauses 28 to 42, wherein the first SMA groups are connected sequentially along a first direction between the first anchoring area and the second anchoring area.

[0245] Clause 43. The garment assembly of Clause 42, wherein the first set of SMAs is formed into an array comprising at least one additional first sequentially connected set of SMAs arranged parallel to the first direction.

[0246] Item 44. The garment component of Item 42 or 43, further comprising at least two additional smart material actuators (SMAs), wherein the at least two additional SMAs are sequentially connected between the first anchoring area and the second anchoring area and form a second SMA group, wherein the second SMA group is sequentially connected between the first anchoring area and the second anchoring area along a second direction, wherein the first direction is different from the second direction.

[0247] Clause 45. The garment assembly of Clause 44, wherein the second SMA group is formed into an array comprising at least one additional second sequentially connected SMA group arranged parallel to the second direction.

[0248] Clause 46. The garment assembly of Clause 44 or 45, wherein the first SMA group is arranged in a first layer of the garment and the second SMA group is arranged in a second layer of the garment, wherein the second layer at least partially overlaps the first layer.

[0249] Clause 47. A garment assembly according to any one of Clauses 28 to 46, wherein the activation unit is releasably or fixedly attached to the garment.

[0250] Clause 48. A garment assembly according to any one of Clauses 28 to 46, wherein the activation unit is arranged to a body part comprising the garment.

[0251] Clause 49. A garment component according to any one of Clauses 28 to 48, wherein at least one of the SMAs is a light-responsive actuator, and wherein

[0252] The activation unit comprises a light source for sending light to activate at least a portion of the at least one SMA.

[0253] Clause 50. The garment assembly of Clause 49, wherein the activation unit further comprises a light guide arranged to receive light from the light source and direct the received light toward the at least one associated SMA.

[0254] Clause 51. A garment assembly according to clause 49 or 50, wherein the activation unit comprises a light emitting diode (LED) panel, the light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0255] Clause 52. A garment component according to any one of clauses 49 to 51, wherein the activation unit comprises a flexible light emitting diode (LED) panel, wherein the flexible light emitting diode (LED) panel comprises at least one LED for each SMA, wherein the one or more LEDs of the flexible LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0256] Clause 53. A garment assembly according to any one of Clauses 49 to 51, wherein the activation unit comprises one or more LEDs attached to a flexible printed circuit board (PCB).

[0257] Clause 54. A garment assembly according to any one of Clauses 49 to 51, wherein the activation unit comprises one or more LEDs attached to the garment for activating the associated SMA.

[0258] Clause 55. A garment component for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment, comprising:

[0259] A garment having:

[0260] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0261] at least one first smart material actuator (SMA), the at least one first SMA being arranged between the first anchoring region and the second anchoring region, being oriented along a first direction of the garment, and forming a first SMA group,

[0262] at least one second smart material actuator (SMA) disposed between the first anchoring region and the second anchoring region and oriented along a second direction of the garment and forming a second SMA group, wherein the second direction is different from the first direction;

[0263] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group; and a second SMA group;

[0264] wherein each SMA is arranged to operate in an idle state and an activated state triggered in response to a non-mechanical stimulus that causes the associated SMA to mechanically contract; and

[0265] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0266] Clause 56. A garment component for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment, comprising:

[0267] A garment having:

[0268] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0269] at least one first smart material actuator (SMA), the at least one first SMA being arranged between the first anchoring region and the second anchoring region, being oriented along a first direction of the garment, and forming a first SMA group,

[0270] at least one second smart material actuator (SMA) disposed between the first anchoring region and the second anchoring region and oriented along a second direction of the garment and forming a second SMA group, wherein the second direction is different from the first direction;

[0271] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group; and a second SMA group;

[0272] wherein each SMA is arranged to operate in an idle state and an activated state triggered in response to a non-mechanical stimulus that causes the associated SMA to mechanically expand; and

[0273] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0274] Clause 57. The garment assembly of Clause 55 or 56, wherein the first SMA set comprises at least two first smart material actuators (SMAs) sequentially connected between the first anchoring region and the second anchoring region.

[0275] Clause 58. The garment assembly of any one of Clauses 55 to 57, wherein the second SMA set comprises at least two first smart material actuators (SMAs) connected sequentially between the first anchoring region and the second anchoring region.

[0276] Clause 59. A garment assembly as recited in any one of Clauses 55 to 58, wherein the defined activation sequence is associated with a desired movement and / or orientation of a body part of the subject wearing the garment.

[0277] Clause 60. The garment assembly of any one of Clauses 55 to 59, further comprising a fabric, the first anchoring region and the second anchoring region being fixedly attached to the fabric.

[0278] Clause 61. The garment assembly of Clause 60, wherein each SMA is fixedly or releasably attached to the fabric.

[0279] Clause 62. The garment assembly of any one of Clauses 55 to 61, wherein the force transfer mechanism comprises one or more links, wherein each link comprises at least one of a fiber, a yarn, a cable, a wire, a film, or a strip.

[0280] Clause 63. The garment assembly of Clause 62, wherein the one or more links are of a material that is at least partially rigid, non-flexible, or inelastic.

[0281] Clause 64. A garment assembly according to any of Clauses 55 to 63, wherein the force transfer mechanism comprises an elastic material having a first end anchored to the first anchoring area and a second end attached to at least one of the sequential SMAs.

[0282] Clause 65. The garment assembly of any one of Clauses 62 to 64, wherein the force transfer mechanism comprises at least:

[0283] a first link connected between the first anchoring region and the SMA that is sequentially closest to the first anchoring region and attached to the first anchoring region and the SMA;

[0284] a second link connected between and attached to two nearest neighboring SMAs, and

[0285] Third Link The third link is connected between the second anchoring region and the SMA that is sequentially closest to the second anchoring region and is attached to the second anchoring region and the SMA.

[0286] Clause 66. A garment assembly according to clause 57 or 58 or any clause dependent thereon, wherein the at least two SMAs connected in sequence form part of a laterally separated or laterally attached SMA array comprising more than one SMA group.

[0287] Clause 67. A garment component according to any one of clauses 55 to 66, wherein the first anchoring area and / or the second anchoring area comprises at least one second SMA, and the at least one second SMA is arranged to mechanically contract in its activated state to secure the garment to the corresponding body part of the subject or provide force feedback.

[0288] Clause 68. The garment assembly of any one of Clauses 55 to 67, wherein each SMA is selected from the group consisting of:

[0289] Light-responsive actuators;

[0290] Dielectric or electrically confined elastomeric actuators (DEAs);

[0291] Conductive polymer actuators (CP);

[0292] Electroactive polymer actuators (EAPs);

[0293] Magnetostrictive actuator (MA); and

[0294] Shape memory polymer (SMP).

[0295] Clause 69. A garment assembly as described in clause 66 or any clause dependent therefrom, wherein the SMA array is provided as a thin film array configured to conform to the curvature of the human body.

[0296] Clause 70. The garment assembly of Clause 69, wherein the membrane comprises a clear coating or plastic film applied over the SMA array, wherein the clear coating or plastic film is arranged to transmit an actuation force through its structure.

[0297] Clause 71. A garment assembly according to clause 55 or 56 or any clause dependent thereon, wherein the first set of SMAs is formed into an array comprising at least one additional first sequentially connected set of SMAs arranged parallel to the first direction.

[0298] Clause 72. A garment assembly according to clause 55 or 56 or any clause dependent thereon, wherein the second SMA group is formed into an array comprising at least one additional second sequentially connected SMA group arranged parallel to the second direction.

[0299] Clause 73. A garment assembly according to any one of clauses 55 to 72, wherein the first SMA group is arranged in a first layer of the garment and the second SMA group is arranged in a second layer of the garment, wherein the second layer at least partially overlaps the first layer.

[0300] Clause 74. A garment assembly according to any one of Clauses 55 to 73, wherein the activation unit is releasably or fixedly attached to the garment.

[0301] Clause 75. A garment assembly according to any one of Clauses 55 to 73, wherein the activation unit is arranged to a body part comprising the garment.

[0302] Clause 76. A garment component according to any of clauses 55 to 75, wherein at least one of the SMAs is a light-responsive actuator, and wherein the activation unit includes a light source for transmitting light to activate at least a portion of the at least one SMA.

[0303] Clause 77. The garment assembly of Clause 76, wherein the activation unit further comprises a light guide arranged to receive light from the light source and direct the received light toward the at least one associated SMA.

[0304] Clause 78. A garment assembly according to clause 76 or 77, wherein the activation unit comprises a light emitting diode (LED) panel, the light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0305] Clause 79. A garment component according to any one of clauses 76 to 78, wherein the activation unit comprises a flexible light emitting diode (LED) panel, the flexible light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the flexible LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0306] Clause 80. A garment assembly according to any one of Clauses 76 to 78, wherein the activation unit comprises one or more LEDs attached to a flexible printed circuit board (PCB).

[0307] Clause 81. A garment assembly as recited in any one of Clauses 76 to 78, wherein the activation unit comprises one or more LEDs attached to the garment for activating the associated SMA.

[0308] Clause 82. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising:

[0309] A garment having:

[0310] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0311] at least one smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0312] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0313] wherein each SMA is arranged to operate in an idle or deactivated state and an activated state triggered by a non-mechanical stimulus causing a geometric change in the associated SMA; and

[0314] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0315] Clause 83. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising:

[0316] A garment having:

[0317] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0318] at least one smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0319] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0320] wherein each SMA is arranged to operate in an idle or deactivated state and an activated state triggered by a non-mechanical stimulus causing the corresponding activated SMA to generate a force acting on the first anchoring region and the second anchoring region; and

[0321] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0322] Clause 84. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising:

[0323] Clothing; and

[0324] An actuator assembly, the actuator assembly comprising:

[0325] a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use;

[0326] at least one smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group;

[0327] a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group,

[0328] wherein each SMA is arranged to operate in an idle or deactivated state and an activated state triggered by a non-mechanical stimulus causing a geometric change in the associated SMA; and

[0329] An activation unit is arranged to send the non-mechanical stimulation to each SMA individually in response to a defined activation sequence.

[0330] Clause 85. The garment assembly of clause 8284, wherein the first SMA group comprises at least two first smart material actuators (SMAs) sequentially connected between the first anchoring region and the second anchoring region.

[0331] Clause 86. The garment assembly of any one of Clauses 82 to 85, wherein the second SMA set comprises at least two first smart material actuators (SMAs) connected in sequence between the first anchoring region and the second anchoring region.

[0332] Clause 87. A garment assembly as recited in any one of Clauses 82 to 86, wherein the defined activation sequence is associated with a desired movement and / or orientation of a body part of the subject wearing the garment.

[0333] Clause 88. The garment assembly of any of Clauses 82 to 87, further comprising a fabric, the first anchoring region and the second anchoring region being fixedly attached to the fabric.

[0334] Clause 89. The garment assembly of Clause 88, wherein each SMA is fixedly or releasably attached to the fabric.

[0335] Clause 90. The garment component of any one of clauses 82 to 89, wherein the force transfer mechanism comprises one or more links, wherein each link comprises at least one of a fiber, a yarn, a cable, a wire, a film, or a strip.

[0336] Clause 91. The garment assembly of Clause 90, wherein the one or more links are of a material that is at least partially rigid, non-flexible, or inelastic.

[0337] Clause 92. A garment component according to any one of clauses 82 to 91, wherein the force transfer mechanism comprises an elastic material having a first end anchored to the first anchoring area and a second end attached to at least one of the sequential SMAs.

[0338] Clause 93. The garment assembly of any one of clauses 90 to 92, wherein the force transfer mechanism comprises at least:

[0339] a first link connected between the first anchoring region and the SMA that is sequentially closest to the first anchoring region and attached to the first anchoring region and the SMA;

[0340] a second link connected between and attached to two nearest neighboring SMAs, and

[0341] Third Link The third link is connected between the second anchoring region and the SMA that is sequentially closest to the second anchoring region and is attached to the second anchoring region and the SMA.

[0342] Clause 94. A garment component according to clause 85 or 86 or any clause dependent thereon, wherein the at least two SMAs connected in sequence form part of a laterally separated or laterally attached SMA array comprising more than one SMA group.

[0343] Clause 95. A garment component according to any one of clauses 82 to 94, wherein the first anchoring area and / or the second anchoring area comprises at least one second SMA, and the at least one second SMA is arranged to mechanically contract in its activated state to secure the garment to the corresponding body part of the subject or provide force feedback.

[0344] Clause 96. The garment component of any one of Clauses 82 to 95, wherein each SMA is selected from the group consisting of:

[0345] Light-responsive actuators;

[0346] Dielectric or electrically confined elastomeric actuators (DEAs);

[0347] Conductive polymer actuators (CP);

[0348] Electroactive polymer actuators (EAPs);

[0349] Magnetostrictive actuator (MA); and

[0350] Shape memory polymer (SMP).

[0351] Clause 97. A garment component as described in clause 94 or any clause dependent therefrom, wherein the SMA array is provided as a film array configured to conform to the curvature of the human body.

[0352] Clause 98. The garment assembly of Clause 97, wherein the membrane comprises a clear coating or plastic film applied over the SMA array, wherein the clear coating or plastic film is arranged to transmit the actuation force through its structure.

[0353] Clause 99. A garment assembly according to any one of clauses 82 to 84 or any clause dependent thereon, wherein the first SMA group is formed into an array comprising at least one additional first sequentially connected SMA group arranged parallel to the first direction.

[0354] Clause 100. A garment assembly as described in any one of clauses 82 to 84 or any clause dependent thereon, wherein the second SMA group is formed into an array, the array comprising at least one additional second sequentially connected SMA group arranged parallel to the second direction.

[0355] Clause 101. A garment assembly according to any of clauses 82 to 100, wherein the first SMA group is arranged in a first layer of the garment and the second SMA group is arranged in a second layer of the garment, wherein the second layer at least partially overlaps the first layer.

[0356] Clause 102. The garment assembly of any one of Clauses 82 to 101, wherein the activation unit is releasably or fixedly attached to the garment.

[0357] Clause 103. A garment assembly as recited in any one of Clauses 82 to 101, wherein the activation unit is disposed to a body part comprising the garment.

[0358] Clause 104. A garment component according to any of clauses 82 to 103, wherein at least one of the SMAs is a light-responsive actuator, and wherein the activation unit includes a light source for transmitting light to activate at least a portion of the at least one SMA.

[0359] Clause 105. The garment assembly of clause 104, wherein the activation unit further comprises a light guide arranged to receive light from the light source and direct the received light toward the at least one associated SMA.

[0360] Clause 106. A garment assembly according to clause 104 or 105, wherein the activation unit comprises a light emitting diode (LED) panel, the light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0361] Clause 107. A garment component according to any one of clauses 104 to 106, wherein the activation unit comprises a flexible light emitting diode (LED) panel, wherein the flexible light emitting diode (LED) panel comprises at least one LED for each SMA, wherein the one or more LEDs of the flexible LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

[0362] Clause 108. The garment assembly of any one of Clauses 105 to 106, wherein the activation unit comprises one or more LEDs attached to a flexible printed circuit board (PCB).

[0363] Clause 109. The garment assembly of any one of Clauses 105 to 106, wherein the activation unit comprises one or more LEDs attached to the garment for activating the associated SMA.

Claims

1. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising: clothing; a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use; at least one smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group; a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group, wherein each SMA is arranged to operate in an idle or deactivated state and an activated state triggered by a non-mechanical stimulus causing a change in a physical material property in the associated SMA; and An activation unit is arranged to send the non-mechanical stimulus to each SMA in response to a defined activation sequence.

2. A garment assembly for facilitating or resisting movement of a subject, such as a person, animal, or inanimate object, wearing the garment assembly, comprising: clothing; a first anchoring region, a second anchoring region, each anchoring region being used to secure the garment to a corresponding body part of the subject when in use; at least one smart material actuator (SMA) connected between the first anchoring region and the second anchoring region and forming a first SMA group; a force transfer mechanism connecting the first anchoring region to the second anchoring region and comprising the first SMA group, wherein each SMA is arranged to operate in an idle or deactivated state and an activated state triggered by a non-mechanical stimulus causing a geometric change in the associated SMA; and An activation unit is arranged to send the non-mechanical stimulus to each SMA in response to a defined activation sequence.

3. The garment assembly of claim 1 or 2, wherein the at least one SMA is configured to mechanically contract upon receiving the non-mechanical stimulus.

4. The garment assembly of claim 1 or 2, wherein the at least one SMA is configured to mechanically expand upon receiving the non-mechanical stimulus.

5. The clothing component according to any one of claims 1 to 4, comprising at least two first smart material actuators (SMAs), which are sequentially connected between the first anchoring area and the second anchoring area and form the first SMA group.

6. A garment assembly according to any one of claims 1 to 5, wherein the activation unit is arranged to send the non-mechanical stimulus to each SMA individually.

7. A garment assembly according to any one of the preceding claims, wherein the defined activation sequence is associated with a desired movement and / or orientation of a body part of the subject wearing the garment.

8. The garment assembly of any one of claims 1 to 7, further comprising a fabric, the first anchoring region and the second anchoring region being fixedly attached to the fabric.

9. The garment assembly of claim 8, wherein each SMA is fixedly or releasably attached to the fabric.

10. The garment assembly of any of the preceding claims, wherein the force transfer mechanism comprises one or more links, wherein each link comprises at least one of a fiber, a yarn, a cable, a wire, a film, or a strip.

11. The garment assembly of claim 10, wherein the one or more links are of a material that is at least partially rigid, non-flexible, or inelastic.

12. The garment assembly of any of the preceding claims, wherein the force transfer mechanism comprises a first end anchored to the first anchoring area or the second anchoring area and a second end attached to at least one of the sequential SMAs.

13. The garment assembly of any one of claims 10 to 12, wherein the force transfer mechanism comprises at least one of the following: a first link connected between the first anchoring region and the SMA that is sequentially closest to the first anchoring region and attached to the first anchoring region and the SMA; a second link connected between and attached to two nearest neighboring SMAs, and A third link is connected between the second anchoring region and the SMA that is sequentially closest to the second anchoring region and is attached to the second anchoring region and the SMA.

14. A garment assembly according to any one of the preceding claims, wherein the at least two SMAs connected in sequence form part of a laterally separated or laterally attached SMA array comprising more than one SMA group.

15. The garment assembly of any one of the preceding claims, wherein the first anchoring area and / or the second anchoring area comprises at least one second SMA.

16. A garment assembly according to claim 15, wherein the at least one SMA is arranged to mechanically contract in its activated state to secure the garment to the corresponding body part of the subject or to provide force feedback.

17. The garment assembly of any one of the preceding claims, wherein each SMA is selected from the group consisting of: Light-responsive actuators; Dielectric or electrically confined elastomeric actuators (DEAs); Conductive polymer actuators (CP); Electroactive polymer actuators (EAPs); Magnetostrictive actuator (MA); and Shape memory polymer (SMP).

18. A garment assembly according to claim 14 or any claim appendant thereto, wherein the SMA array is provided as a thin film array configured to conform to the curvature of a human body.

19. The garment assembly of claim 18, wherein the membrane comprises a coating or plastic film applied over the SMA array, wherein the coating or plastic film is arranged to transmit an actuation force through its structure.

20. The garment assembly of any one of the preceding claims, wherein the first SMA groups are connected sequentially along a first direction between the first anchoring area and the second anchoring area.

21. The garment assembly of claim 20, wherein the first SMA group is formed into an array comprising at least one second sequentially connected SMA group arranged parallel to the first direction.

22. A garment component according to claim 20 or 21, further comprising at least one second smart material actuator (SMA), wherein the at least one second smart material actuator (SMA) is arranged between the first anchoring area and the second anchoring area, and is oriented along a second direction of the garment, and forms a second SMA group, wherein the first direction is different from the second direction.

23. The garment component of claim 22, comprising at least two smart material actuators (SMAs) connected in sequence between the first anchoring region and the second anchoring region and forming the second SMA group.

24. The garment assembly of claim 22 or 23, wherein the second SMA group is formed into an array comprising at least one additional second sequentially connected SMA group arranged parallel to the second direction.

25. The garment assembly of any one of claims 22 to 24, wherein the first SMA group is arranged in a first layer of the garment and the second SMA group is arranged in a second layer of the garment, wherein the second layer at least partially overlaps the first layer.

26. A garment assembly according to any one of the preceding claims, wherein the activation unit is releasably or fixedly attached to the garment.

27. A garment assembly according to any one of claims 1 to 25, wherein the activation unit is arranged to be attached, in use, to a body part of the subject wearing the garment.

28. The garment assembly of any of the preceding claims, wherein at least one of the SMAs is a light-responsive actuator, and wherein The activation unit comprises a light source for sending light to activate at least a portion of the at least one SMA.

29. The garment assembly of claim 28, wherein the activation unit further comprises a light guide arranged to receive light from the light source and direct the received light to the at least one associated SMA.

30. A garment assembly according to claim 28 or 29, wherein the activation unit includes a light emitting diode (LED) panel, the light emitting diode (LED) panel including at least one LED for each SMA, wherein the one or more LEDs of the LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

31. A garment component according to any one of claims 28 to 30, wherein the activation unit comprises a flexible light emitting diode (LED) panel, the flexible light emitting diode (LED) panel comprising at least one LED for each SMA, wherein the one or more LEDs of the flexible LED panel have a spatial configuration corresponding to the spatial configuration of the associated SMA.

32. A garment assembly according to any one of claims 28 to 30, wherein the activation unit comprises one or more LEDs attached to a flexible printed circuit board (PCB).

33. A garment assembly according to any one of claims 28 to 30, wherein the activation unit comprises one or more LEDs attached to the garment for activating the associated SMA.

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