Electromechanical walking assist device

Abstract

A walking assistance device includes: a walking engine configured to be mounted at a waist of a user, the walking engine including a motor and a controller; an article of clothing wearable by a user and integrated with one or more cables coupled to the motor; one or more footwear may be worn on a foot of a user, each footwear coupled to a respective cable by a connector. The controller is configured to: receive sensor data from one or more sensors located on a user; analyzing the sensor data to determine a gait phase of the user; during a pedaling phase of the gait cycle, the motor is selectively controlled to tension the one or more cables and provide an assist force to the user's foot.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims the benefit of priority to U.S. Provisional Patent No. 63 / 374,170, filed on August 31, 2022, which is incorporated by reference in its entirety and encompasses all contents disclosed therein. Technical Field

[0003] The present disclosure generally relates to an electromechanical device configured to assist or enhance a user's natural walking motion, and methods of using the electromechanical device. Background Art

[0004] Human bipedal gait is a complex but efficient cyclical pattern of coordinated lower limb movement that propels the body forward with each cycle. During normal walking, the ankle joint plays a critical role in nearly all aspects of movement. The ankle controls movement, absorbs shock, stabilizes stance, conserves energy, and provides propulsion. A single gait cycle consists of two major phases—stance and swing. The gait cycle begins with initial contact as the heel strikes the ground. Controlling ankle movement during the weight-bearing reaction is key to absorbing shock and decelerating the foot after heel strikes. The ankle then provides stability as the body's center of mass moves forward onto the grounded foot. As the stance phase nears completion, the ankle releases stored elastic energy to provide propulsion for propulsion into the swing phase. During swing, the ankle dorsiflexors lift the foot off the ground.

[0005] Wearable robotic exoskeletons are designed to augment human strength, provide gait retraining after injury, or improve movement efficiency. Most lower-limb exoskeletons utilize rigid, full-leg metal structures to fully support the user’s weight and are capable of performing tasks beyond the natural limits of strength. While rigid exoskeletons can enhance the capabilities of both healthy and physically disabled individuals, they suffer from deficiencies in coordinating smooth, natural movements. Problems stem from misalignment of joints with biological joints, limited natural joint motion due to fewer degrees of freedom, and additional weight / inertia that the device fails to compensate for. Slow actuation and lack of accurate intent detection also hinder their usefulness in the real world. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 An athlete wearing a walking assist device while running on a track is schematically illustrated.

[0007] Figure 2 A side profile view of an embodiment of a user wearing a walking assist device is schematically illustrated.

[0008] Figure 3Schematically illustrated is a side profile view of an embodiment of an article of footwear having a connector for receiving a tensioning cable, wherein the connector is integrated into a heel counter and located on a rear end portion of the article.

[0009] Figure 4 Schematically illustrated is a side profile, partial cross-sectional view of an embodiment of an article of footwear having a connector for receiving a tensioning cable, wherein the connector is integrated into an upwardly curved sole plate and located on a rear end portion of the article.

[0010] Figure 5 Schematically illustrated is a side profile view of an embodiment of an article of footwear having a sole plate with rearwardly extending projections for coupling with a tension cable.

[0011] Fig. 6A A side profile view of an embodiment of an article of footwear having a heel lift sole configuration and in an unlifted state is schematically illustrated.

[0012] Figure 6B Schematically illustrates Fig. 6A A side profile view of an article of footwear in a heel-lifted position.

[0013] Fig. 7A A side profile view of an embodiment of an article of footwear having a heel lift sole configuration and in an unlifted state is schematically illustrated.

[0014] Figure 7B Schematically illustrates Fig. 7A A side profile view of an article of footwear in a heel-lifted position.

[0015] Fig. 8A A rear view of an embodiment of a user wearing a walking assist device is schematically illustrated.

[0016] Figure 8B Schematically illustrates Fig. 8A Side view of a user.

[0017] Fig. 9A A side view of an embodiment of a user performing partial plantar flexion while wearing a walking assist device is schematically illustrated.

[0018] Fig. 9B Schematically illustrates Fig. 9A A user of a walking assist device who is assisted by a walking assist device to achieve greater plantar flexion.

[0019] Fig. 10A A side view of a user wearing a walking assist device and a plurality of sensor systems is schematically illustrated.

[0020] Fig. 10B Schematically illustrates a system for communicating with multiple sensors and remote devices. Fig. 10A Functional diagram of the walking engine.

[0021] Fig.11A A motor mechanism for driving multiple actuator cables using a single motor is schematically illustrated, wherein the motor specifically drives a first automatic cable take-up mechanism for a first cable.

[0022] Fig. 11B Schematically illustrates Fig.11A A motor mechanism, wherein the motor drives a second automatic wire take-up mechanism for a second cable.

[0023] Fig.12 A perspective view of a footwear sensor embedded in a sole structure of an article of footwear is schematically illustrated.

[0024] Fig.13 Schematically illustrates the Fig.12 Functional diagram of the illustrated footwear sensor.

[0025] Fig.14A A profile view of a bladder-like fluid-filled cushioning element for a sole structure of an article of footwear is schematically illustrated, the cushioning element including a plurality of integrated flexible pressure sensors.

[0026] Fig. 14B Schematically illustrates Fig.14A A side profile view of a bladder-like fluid-filled cushioning element wherein a user's foot deforms at least two of the flexible pressure sensors.

[0027] Fig.15 A rear view of a shirt-like article of clothing with a plurality of integrated sensors is schematically illustrated.

[0028] Fig.16A A rear view of a pant-type article of clothing having a plurality of integrated sensors is schematically illustrated.

[0029] Fig. 16B Schematically illustrates Fig.16A front view of article of clothing.

[0030] Fig.17A A view of a user with a jumping aid in a loaded state is schematically illustrated.

[0031] Fig. 17B Schematically illustrates Fig.17A A view of a user with the jump assist device deployed to propel the user upward.

[0032] Fig.18 A user with a jumping assist device playing basketball is schematically illustrated.

[0033] Fig.19 A user is schematically illustrated actively exercising using a power follow type assist device that can actively assist and / or resist the user's movements.

[0034] Fig. 20 A user is schematically illustrated pulling a passenger on a rickshaw-like following aid that may assist the user and improve the user's overall endurance and safety.

[0035] Fig.21 A functional diagram of a follower-type auxiliary device in communication with a plurality of local and remote devices is schematically illustrated.

[0036] The present disclosure may be subjected to various modifications and alternative forms, and some representative embodiments have been shown by way of example in the accompanying drawings and will be described in detail below. However, it should be understood that the novel aspects of the present disclosure are not limited to the specific forms illustrated in the accompanying drawings listed above. On the contrary, the present disclosure will cover all modifications, equivalents, combinations, sub-combinations, arrangements, groupings and substitutions that fall within the scope of the present disclosure and are covered by the appended claims. DETAILED DESCRIPTION

[0037] The present disclosure relates to the structure and operation of walking assist devices configured to enhance a user's natural walking or running motion. In recent years, electronic assist devices have become increasingly popular in combination with traditional manual modes of transportation. For example, bicycles have been equipped with pedal-assist motors, and it is not uncommon for electric scooters to quickly shuttle through urban environments at speeds of more than 15 miles per hour. The present disclosure contemplates that similar electronic assist devices can also be used for the most basic mode of transportation for humans - walking / running.

[0038] While there are already powered exoskeletons designed for use in human strength enhancement and clinical physical rehabilitation, existing designs often rely on bulky structures and equipment that are simply not suitable for general consumer use. The present design and technology seeks to simplify and minimize the outdated exoskeleton structure to enable mass consumer adoption.

[0039] In general, the present design is not intended to completely replace the user's natural walking motion, but rather to serve as an auxiliary device to improve the user's overall endurance, or to supplement (or challenge) the user's maximum effort during training. For example, in one configuration, one or more sensors may be operable to detect the user's body form during a training activity. If the system determines that the user is exerting too much effort and affecting correct form, it may supplement the user's movements while reminding the user to pay attention to form.

[0040] With reference to the accompanying drawings, Figure 1An embodiment of a user 10 running on a mountainside trail 12 with the assistance of a walking assist device 20 is generally illustrated. As generally shown, and described in more detail below, the assist device 20 can act on the user's foot / ankle 22 to enhance and / or supplement the user's natural push-off / plantar flexion motion. In doing so, the user 10 may not feel the need to exert excessive effort, which would otherwise allow the user 10 to run a longer distance than otherwise possible. In other words, the assist device 20 will be operable to reduce the metabolic cost of running, allowing the user 10 to run farther, faster and / or with a reduced risk of injury.

[0041] Figure 2 Schematically illustrates a Figure 1 The walking assist device 20 of the walking assist device shown. The assist device 20 generally includes a walking engine 23, which has at least an onboard motor / actuator 24, which is operable to apply force to the user's foot 22 (i.e., via the worn footwear 26) and / or around the user's ankle. In some embodiments, the applied force can be applied to the footwear 26 by tensioning one or more cables 28 extending between the motor / actuator 24 and the footwear 26. If timed properly, this force / torque around the user's ankle can assist or supplement the user's own efforts during the push-off phase of the user's gait.

[0042] Figure 3 7 illustrate various embodiments of a footwear article 26, which is operable to receive auxiliary force / torque from a connected motor 24 via an intermediate cable 28. Although the footwear article 26 is illustrated as a sports shoe or "sneaker" for discussion, it should be appreciated that this is merely an example application. However, in other applications, the auxiliary device 20 may be incorporated into other types of footwear, and / or may be incorporated into any logically related clothing article. As used herein, the terms "shoe" and "footwear" (including their arrangements) are interchangeable and used synonymously to refer to any suitable type of clothing worn on a person's foot. Finally, the features presented in the accompanying drawings are not necessarily to scale, and are provided only for guidance purposes. Therefore, the specific and relative dimensions shown in the accompanying drawings should not be interpreted as limiting.

[0043] Figure 3A representative article of footwear in (also commonly referred to as shoe 26) is generally depicted as a two-part construction, consisting primarily of a foot-receiving upper 30 mounted on top of an underlying sole structure 32. For ease of reference, the shoe 26 can be divided into three anatomical regions: a forefoot region 34, a midfoot region 36, and a rearfoot (heel) region 38. According to generally recognized anatomical classifications, the forefoot region 34 is located at the front / front portion of the shoe 26 and generally corresponds to the phalanges (toes), metatarsal bones, and any interconnecting joints thereof. The midfoot region 36 is located between the forefoot region 34 and the heel region 38 and generally corresponds to the cuneiform, navicular, and cuboid bones (i.e., the arch region of the foot). In contrast, the heel region 38 is located at the rear / posterior portion of the shoe 26 and generally corresponds to the talus (ankle) and calcaneus (heel). Although in Figure 3 Only a single shoe 26 for the user's right foot is shown in the figure, but a mirrored, substantially identical corresponding shoe for the user's left foot can be provided. It can be appreciated that the shape, size, material composition and manufacturing method of the shoe 26 can be changed individually or collectively to accommodate virtually any conventional or non-conventional footwear application.

[0044] Continue to refer Figure 3 , upper 30 is depicted as having a shell-like configuration for enclosing a human foot within interior cavity 40. As illustrated, upper 30 generally includes an ankle opening 42 that allows the wearer's foot to enter interior cavity 40. Sole structure 32 is rigidly secured to upper 30 such that sole structure 32 extends between upper 30 and a support / ground surface on which a user stands. In effect, sole structure 32 acts as an intermediate support platform that separates and protects the underside of the user's foot from the ground.

[0045] A typical sole structure may include an outsole 44 disposed on a ground engaging surface 46 of the sole structure 32 and a cushioning midsole 48 attached to the outsole 44. The midsole 48 may include one or more materials or structures suitable for attenuating ground reaction forces and providing cushioning for the foot 22. For example, the midsole 48 may include one or more foam cushioning structures, fluid-filled cushioning structures, air-filled cushioning structures, etc. In addition, the sole structure 32 may also include structures or may be otherwise designed to provide traction, impart stability, and help limit various foot movements, such as unintentional inversion and eversion of the foot. In some embodiments, the sole structure 32 may be attached to the upper 30, for example, by an adhesive or other typical attachment means.

[0046] like Figure 3As further illustrated in FIG. 4 , in some embodiments, the footwear article 26 may include a cable connector 50 adapted to selectively receive and couple with the end 52 of the intermediate cable 28. It is through the connector 50 that the cable is ultimately able to apply force to the shoe 26. In addition, when the connector 50 is spaced farther from the ankle (approximately the center of the ankle opening 42), the force may apply greater torque to the user's foot and around the user's ankle. In some embodiments, the cable connector 50 may include one or more hooks, latches, quick disconnect features, butterfly clutches, quarter-turn fasteners, and / or other suitable coupling mechanisms for providing a quick engagement of the end 52 of the cable 28 with the shoe 26. In order to provide the maximum possible moment arm around the user's ankle, the cable connector 50 may be disposed on the rearmost / rear portion of the upper 30 or sole structure 32 within the heel region 38. In order to provide a secure structural attachment of the cable connector 50 to the shoe 26, in one configuration, the cable connector 50 may be integral with a polymer heel counter 54 extending upwardly from the sole structure 32, such as Figure 3 shown.

[0047] In some embodiments, such as Figure 4 As shown, the connector 50 can be integral with or attached to a plate 60 that extends along at least a portion of the sole structure including the heel region 38. In some embodiments, the plate 60 can extend from the cable connector 50 and extend across some or all of the heel region 38, the midfoot region 36, and / or the forefoot region 34. The plate 60 can be embedded within the foam midsole 48, which in some configurations can form a portion or all of the outsole 44 of the sole structure 32. Likewise, in some configurations, the plate 60 can contact the upper surface of the foam midsole 48 so that the plate 60 extends between the midsole 48 and the upper 30. U.S. Patent Publication No. 2023 / 0124653 (the '653 application) provides examples of various other shoe 26, plate 60, and connector 50 designs that can be used with the currently described walking assist device 20. The '653 application is incorporated by reference in its entirety and encompasses all of its disclosure.

[0048] As described above, in order to provide the maximum moment arm, the cable connector 50 should be spaced the maximum allowable distance from the axis of rotation of the user's ankle. Although placement on the heel stabilizer 54 is one possible configuration, Figure 5 A different configuration is illustrated in which the integral sole plate 60 includes a protrusion 62 extending rearwardly (posteriorly) from a rearwardly distal end 64 of the upper 30. By connecting the distal end 52 of the cable 28 to the end portion 66 of the plate protrusion 62, additional space may be provided between the cable connection and the user's ankle, which may result in a greater potential for applied assist torque (or a similar torque with less applied force).

[0049] Fig. 6A and Figure 6B Different configurations of footwear 26 are illustrated that are configured to assist a user in performing a plantar flexion / push-off motion during a standard gait. In this embodiment, at least a portion 70 of sole structure 32 in heel region 38 is coupled relative to a portion 72 of sole structure 32 in forefoot region 34 (i.e., "forefoot sole portion 72") to assist a user in lifting their heel. Figure 6B 30, within the heel region 38, there are both a lower sole structure 74 and an upper sole structure 76, wherein the upper sole structure 76 is located between the lower sole structure 74 and the upper 30. The lower sole structure 74 includes a front end portion 78 and a rear end portion 80. The front end portion 78 of the lower sole structure 74 is pivotally connected to the forefoot sole portion 72 at a pivotable joint 82. In some embodiments, the pivotable joint 82 may include a physical hinge (e.g., a pin-type rotatable joint). In other embodiments, the pivotable joint 82 may include a compliant joint or "living hinge" that relies on material elasticity or compliant structure to facilitate repeatable rotational motion.

[0050] like Fig. 6A and Figure 6B As further shown, the rear portion 84 of the upper sole structure 76 can be coupled to and slidable along a lifting strut 86, wherein the lifting strut 86 is pivotally coupled to the rear end portion 80 of the lower sole structure 74 at a joint 88. The lifting strut 86 can include an end portion 90 that selectively receives a portion of the intermediate cable 28 and / or a portion of a conduit through which the cable 28 can pass. For example, in one configuration, the intermediate cable 28 is a Bowden-style cable (i.e., a type of flexible cable used to transmit mechanical force or energy through movement of an inner cable 92 relative to a hollow outer cable housing 94). The outer cable housing 94 of a Bowden-style cable typically has a composite construction that includes, for example, an inner lining, a longitudinal incompressible layer (such as a spiral winding or a bundle of steel wires), and a protective outer covering. In such a design, the outer cable housing 94 can be secured to the end portion 90 of the lift post 86 , while the inner cable 92 extends through and is secured to a cable connector 50 on the sole structure 32 or upper 30 , or to a portion of the upper sole structure 76 .

[0051] like Figure 6BAs shown, after tensioning the internal cable 92 relative to the housing 94 and the end portion 90 of the lifting post 86, the heel area 38 of the upper 30 and the upper sole structure 76 can separate from the lower sole structure 74 and induce a plantar flexion type motion. A shoe design that can easily accommodate such a heel lift aid is described in U.S. Patent Application No. 2020 / 0205512 (the '512 application), which is incorporated by reference in its entirety. FIG. 7A to FIG. 7B A representative embodiment of the shoe described in the '512 application is provided, but with the addition of Fig. 6A and Figure 6B The lifting structure is illustrated and described.

[0052] Effective joint actuation / joint assistance is important to the overall functionality of the system. A common drawback of existing exoskeleton assistance systems is that the user must wear often bulky and rigid hardware in order for the system to function as intended. Figures 1 to 7B In much the same way as the ankle rotational component is integrated as seamlessly as possible into the article of footwear 26, FIG. 8A to FIG. 9B An embodiment is illustrated that relies on wiring and the user's own clothing without requiring a rigid external structure. In doing so, the system proves to be both lightweight and easy for the user to wear.

[0053] like Fig. 8A and Figure 8B As generally illustrated, in order to minimize the amount of distal mass that the user must move with the legs during a stride, the motor / actuator 24 can be positioned generally on the user's torso 100, where the user 10 is least likely to notice the presence of the motor / actuator 24. In a preferred configuration, the motor / actuator 24 can be located at or near the user's waist 102, and can be further integrated into or easily coupled with a belt or waistband of the user's pants 104.

[0054] However, due to the physical separation between the motor / actuator 24 and the user's foot 22, an intermediate mechanism is required to transfer any forces generated by the motor to the user's shoe 26, where the intermediate mechanism provides walking assistance. Fig. 8A and Figure 8B As shown, and as discussed further above, the mechanism can take the form of one or more intermediate cables 28 that are mechanically connected to and between the motor / actuator 24 and the article of footwear 26. Cables, such as Bowden cables, have the ability to transmit relatively large forces at relatively low weights. While in most embodiments, in a Bowden cable, linear movement of the inner cable 92 relative to the outer housing 94 is used to transmit pulling / tensioning forces, push / pull Bowden cables also exist and can be used with various embodiments of the present system.

[0055] To provide a stylish visual aesthetic while minimizing the presence of loose cables around the user 10, the system may integrate the Bowden cable directly into the article of clothing, such as into FIG. 8A to FIG. 9B 1. The compression pants 104 shown in FIG. 1. In this embodiment, when using a waist-mounted motor 24, the cable 28 can exit the motor / actuator 24 near the user's waist 102 and extend downward along the outer / lateral side 106 of the user's leg 108. When on the outer / lateral side 106 of the user's leg 108, the cable 28 can be generally aligned with the neutral axis 110 of the leg 108 so that the cable 28 neither restricts nor interferes with the user 10 from bending his knee 112. Distal to the user's knee 112, the cable 28 can transition to a rear position 116 relative to the user's leg 108. In this relative position, the cable 28 can ultimately exit the pants 104 at / from an ankle cuff 118 before being coupled to the cable connector 50 on the footwear article 26.

[0056] In one configuration, the Bowden cables described above may extend through one or more lumens formed in the fabric of the pants 104. Such lumens may occur, for example, at the seam of two adjacent pieces of material. In another embodiment, to facilitate washing of the pants 104, the Bowden cables may be removably coupled to the pants 104, such as by slidably entering the lumens, or secured in place using hook-and-loop fasteners, zippers, etc.

[0057] like Fig. 9A and Fig. 9B As generally illustrated, in one configuration, the outer housing 94 of the Bowden-type cables can be attached to an ankle cuff 118, which can support the outer housing 94 during operation. Generally, the friction and compression of the pants 104 and cuff 118 around the user's legs 108 and waist 102 provides a relatively stable structure against which the system can reliably pull the user's shoes 26. In addition, compared to traditional exoskeletons, this is a lighter solution that is less obtrusive or noticeable to the wearer and reduces the equipment that the user needs to wear (e.g., the user only needs to put on a pair of pants instead of wearing a separate powered exoskeleton).

[0058] When controlling actuation of walking assist device 20, walking engine 23 may attempt to utilize the natural push-off motion during the user's gait to select the time to actuate the user's foot 22. To accomplish this, device 20 preferably has real-time or near real-time knowledge of the user's posture, total movement, limb position, and / or foot contact force, so that motor 24 can provide assistive force at a moment that assists the user's gait and does not interfere with it. Fig. 10A and Fig. 10BAs shown, to achieve such awareness, the walking engine 23 may be or otherwise include an integrated electronics package having a walking controller 200 , a motor / actuator 24 , one or more onboard sensors 202 , and communication circuitry 204 .

[0059] The communication circuit 204 can communicate wirelessly with one or more remote sensors 206 disposed on the user's body. As will be discussed below, these remote sensors 206 can be configured to sense / monitor one or more biomechanical or biometric parameters of the user, and can provide this data to the controller 200 in order to understand the movement or posture or activity level of the user 10. As generally illustrated, the remote sensors 206 can include, for example, one or more accelerometers, inertial measurement units, gyroscopes, strain gauges, or force / pressure sensors that are connected to or embedded in the user's shoes 26, clothing, and / or on wearable electronic devices mounted on the user (i.e., generally referred to as "footwear sensors 208," "clothing sensors 210," and "wearable device sensors 212"). Additionally, the communication circuit 204 can communicate bidirectionally with a remote host system 220 or a cloud computing system 222 via a wireless communication network 224 (e.g., a wide area network (WAN), which includes any suitable infrastructure or computing equipment that may need to communicate over a longer distance).

[0060] The host system 220 can be implemented as a high-speed server computing device or a large computer capable of handling batch data processing and / or for storing user data, user parameters and / or user configurations for use with or by the walking engine 23. In some embodiments, the host system 220 can operate as a host in a client-server interface for any necessary data exchange and communication with one or more "third-party" servers to complete one or more transactions or data exchanges. On the other hand, the cloud computing system 222 can operate as a middleware for IoT (Internet of Things), WoT (World Wide Web of Things), Internet of Adaptive Clothing and Footwear (IoAAF) and / or M2M (Machine to Machine) services, connecting various heterogeneous electronic devices to a service-oriented architecture (SOA) via a data network. As an example, the cloud computing system 222 can be implemented as a middleware node to provide different functions for dynamically accessing heterogeneous devices, multiplexing data from each of these devices, and routing the data through reconfigurable processing logic for processing and transmission to one or more target applications. The network 224 can be any available type of network, including a combination of public distributed computing networks (e.g., the Internet) and secure private networks (e.g., local area networks, wide area networks, virtual private networks). It can also include wireless and wired transmission systems (e.g., satellite, cellular networks, terrestrial networks, etc.). In at least some aspects, most (if not all) data transaction functions performed by the walking engine 23 can be performed over a wireless network (such as a wireless local area network (WLAN) or a cellular data network) to ensure that the user 10 can move freely.

[0061] The walking controller 200 and the associated motion sensors 202, 208, 210 and / or 212 can attempt to model and / or understand the dynamics and / or kinematics of the user 10 to distinguish when the user is walking or running, and when the user's foot 22 is about to enter the push-off phase of the gait. The walking controller 200 may include any one or various combinations of the following: a logic circuit, a dedicated control module, an electronic control unit, a processor, an application-specific integrated circuit, or any suitable integrated circuit device, whether resident, remote, or a combination of the two. As an example, the walking controller 200 may include a plurality of microprocessors, including a master processor, a slave processor, and an auxiliary or parallel processor. As used herein, the controller 200 may include any combination of hardware, software, and / or firmware disposed inside and / or outside the structure of the walking engine 23 (e.g., in the memory device 201), and may be configured to communicate with the walking engine 23 and a bus, a computer, a processor, a device, a service, and / or a network and / or control the data transmission between the walking engine 23 and the bus, a computer, a processor, a device, a service, and / or a network. The walking controller 200 is generally operable to execute any or all of the various computer program products, software, applications, algorithms, methods and / or other processes disclosed herein. Routines may be executed in real time, continuously, systematically, sporadically and / or at regular intervals (e.g., every 100 microseconds, 3.125 milliseconds, 6.25 milliseconds, 12.5 milliseconds, 25 milliseconds, 100 milliseconds, etc.) during continued use or operation of the controller 200.

[0062] The walking controller 200 may include a resident or remote memory device (such as a resident memory 201 encapsulated inside the walking engine 23) or may communicate with a resident or remote memory device. The resident memory may include semiconductor memory, including volatile memory (e.g., random access memory (RAM) or multi-RAM) and non-volatile memory (e.g., read-only memory (ROM) or EEPROM), magnetic disk storage media, optical storage media, flash memory, etc. A resident power source, such as a lithium-ion battery with plug-in or wireless (inductive or resonant) rechargeable capability, may be embedded in the walking engine 23.

[0063] The communication circuitry 204 may provide long-range communication capabilities (e.g., for communicating over the network 224) and / or short-range communication capabilities for communicating with more locally present remote sensors 206. The long-range communication capabilities with remote networked devices may be provided via one or more or all of a cellular network chipset / component, a satellite service chipset / component, or a wireless modem or chipset / component. A transceiver, a radio frequency identification (RFID) tag, an NFC device, a DSRC component, and / or a radio antenna to provide a short-range wireless connection. Wireless communication can be further facilitated by implementing a Bluetooth Low Energy (BLE), Category (CAT) M1, or CAT-NB1 wireless interface.

[0064] The motor / actuator 24 may include any suitable electromechanical actuator for applying tension to the attached cable 28. Suitable motors may include brushless or brushed motors, stepper motors, servo motors, linear motors, etc. To facilitate linear tensioning of the cable 28, additional mechanisms may be coupled to the motor, including gear trains, ball screws, lead screws, spools, pulleys, etc. In one configuration, such as FIG. 11A to FIG. 11B As shown, the motor 24 may include an articulated gear train 230 configured to drive only one coupled automatic line take-up device 232 at a time. Fig.11A As shown, when the electric motor 234 drives the articulated gear train 230 in a first direction, it can rotate into contact with the first drivable gear 236, thereby rotating the first spool 238 and tensioning the first cable 240. Fig. 11B As shown, when the electric motor 234 drives the articulated gear train 230 in the opposite direction, the articulated gear train 230 can rotate into contact with the second drivable gear 242, thereby rotating the second spool 244 and tensioning the second cable 246. When the second drivable gear 242 is acted upon by the articulated gear train 230, the first spool 238 and the first cable 240 can be allowed to unwind freely, or can be actively released via an associated return spring. The same can occur with the second spool 244 and the second cable 246 when the articulated gear train 230 is driving the first drivable gear 236. In this way, a single motor is able to drive mechanisms on both legs, thereby saving net weight compared to a two-motor system.

[0065] Fig.12One embodiment of a sole structure 32 of a shoe 26 is illustrated, which may include a footwear sensor 208 and associated resident circuitry for communicating data with a walking engine 23. In this embodiment, the footwear sensor 208 includes an insert member 300 having a force and / or pressure sensor assembly 302 connected thereto. The insert member 300 is configured to be positioned to contact the sole structure 32 of the footwear 26 so that the insert member 300 can receive pressure input from the user's foot 22. In some embodiments, the insert member 300 can contact the upper surface of the midsole 48 or can be pressed into the upper surface of the midsole 48. The sensor assembly 30 includes a plurality of sensors 304, and a communication or output port 306 that communicates with the sensor assembly 302 (e.g., electrically connected via conductors). The port 306 is configured to communicate data between the sensors 304 and an electronic module (also referred to as an electronic control unit) 308, as described below. The module 308 can be configured to communicate with an external device (such as a walking engine 23). In Figure 12 to Figure 13 In the illustrated embodiment, the footwear sensor 208 has four sensors: a first sensor 304a at the big toe (first phalanx or hallux) area of ​​the shoe, two sensors 304b to 304c at the forefoot area of ​​the shoe (including a second sensor 304b at the first metatarsal head area and a third sensor 304c at the fifth metatarsal head area), and a fourth sensor 304d at the heel. These areas of the foot are typically subject to the greatest degree of pressure during movement. Each sensor 304 is configured to detect pressure applied to the sensor 304 by the user's foot. The sensor communicates with the port 306 via a sensor lead 310, which can be a wire lead and / or another electrical conductor or suitable communication medium. For example, at Fig.12 In an embodiment, the sensor lead 310 may be a conductive medium, such as silver-based ink or other metal inks, such as copper and / or tin-based inks, printed on the insert member 300. In an embodiment, the lead 310 may alternatively be configured as a thin wire.

[0066] Other embodiments of the footwear sensor 208 may include different numbers or configurations of sensors 304, and generally include at least one sensor 304. For example, in one embodiment, the footwear sensor 208 includes a greater number of sensors, and in another embodiment, the footwear sensor 208 includes two sensors, one in the heel and one in the forefoot of the shoe 26. In addition, the sensor 304 may communicate with the electronic control unit 308 via the port 306 in different ways, including any known type of wired or wireless communication, including Bluetooth and near field communication. A pair of shoes may be provided with a footwear sensor 208 in each shoe of the pair, and it should be understood that the paired sensor systems may operate in coordination or may operate independently of each other, and the sensor systems in each shoe may or may not communicate with each other. It should be understood that the footwear sensor 208 may be provided with computer programs / algorithms to control the collection and storage of data (e.g., pressure data generated by the user's foot interacting with the ground or other contact surface), and these programs / algorithms may be stored in and / or executed by the sensor 304, module 308, and / or walking engine 23. Figure 12 to Figure 13 In the illustrated embodiment, sensor 304 is a force and / or pressure sensor for measuring pressure and / or force on sole 32. Sensor 304 has a resistance that decreases as pressure on sensor 16 increases, so that measuring resistance through port 306 to detect pressure on sensor 304 can be performed.

[0067] Fig.13 A schematic diagram of an example electronic module 308 is shown that includes data transmission / reception capabilities via a data transmission / reception module 312. Fig.13 The example structure of the embodiment of the present invention illustrates a data transmission / reception system (TX-RX) 312 integrated into the electronic module structure 308, but those skilled in the art will understand that separate components may be included as part of the footwear structure or other structure for data transmission / reception purposes, and / or in all embodiments, the data transmission / reception system 312 need not be completely contained in a single shell or a single package. Instead, if desired, the various components or elements of the data transmission / reception system 312 can be separated from each other, in different shells, on different plates, and / or separately engaged with the footwear article 26 in the sole structure 32 and / or in the upper 30.

[0068] The electronic components 308 of this example also include a processing system 314 (e.g., one or more microprocessors), a memory system 316, and a power source 318 (e.g., a battery or other power source). In one embodiment, the power source 318 can be configured for inductive charging, such as by including a coil or other inductive member. In this configuration, the module 308 can be charged by placing the footwear article 26 on an induction pad or other inductive charger, allowing charging without removing the module 308 from the port 306. In another embodiment, the power source 318 can be additionally or alternatively configured for charging using energy harvesting technology and can include a device for energy harvesting, such as a charger that charges the power source 318 by absorbing kinetic energy generated by the user's movement.

[0069] You can Fig.13 The embodiment shown implements connection with one or more sensors, but additional sensors (not shown) may be provided to sense or provide data or information related to various different types of parameters, such as physical or physiological data associated with the use or user of the article of footwear 26, including pedometer type speed and / or distance information, other speed and / or distance data sensor information, temperature, altitude, air pressure, humidity, GPS data, accelerometer output or data, heart rate, pulse rate, blood pressure, body temperature, EKG data, EEG data, data about angular orientation and angular orientation changes (such as gyroscope-based sensors), etc., and the data may be stored in the memory 316 and / or made available, for example, for transmission by the transmission / reception system 312 to some remote location or system. The additional sensor(s), if present, may also include an accelerometer 320 (e.g., for sensing changes in direction during a step, such as for sensing pedometer type speed and / or distance information, for sensing jump height, etc.). In one embodiment, the data from the sensor 304 may be integrated with the data from the accelerometer 320, such as by the module 308 or the walking engine 23.

[0070] As additional examples, the various types of electronic modules, systems and methods described above can be used to provide automatic impact attenuation control for footwear. Such systems and methods can operate, for example, like those described in U.S. Patent No. 6,430,843, U.S. Patent Application Publication No. 2003 / 0009913, and U.S. Patent Application Publication No. 2004 / 0177531, which describe systems and methods for actively and / or dynamically controlling the impact attenuation characteristics of footwear (U.S. Patent No. 6,430,843, U.S. Patent Application Publication No. 2003 / 0009913, and U.S. Patent Application Publication No. 2004 / 0177531 are each incorporated herein by reference in their entirety and become a part of this document). When used to provide speed and / or distance type information, sensing units, algorithms and / or systems of the type described in U.S. Patents Nos. 5,724,265, 5,955,667, 6,018,705, 6,052,654, 6,876,947 and 6,882,955 may be used. Each of these patents is incorporated herein by reference in its entirety. Additional embodiments of sensors and sensor systems and footwear articles and sole structures and components utilizing them are described in U.S. Patent Application Publication Nos. 2010 / 0063778 and 2010 / 0063779, which are incorporated herein by reference in their entirety and become a part of this document.

[0071] Additional details of various embodiments of the footwear sensor 208 can be found in U.S. Patent Application Publication Nos. 2013 / 0213147 and US2021 / 0197021, each of which is incorporated by reference in its entirety. In addition to these illustrated embodiments, the footwear sensor 208 that can be used with the present walking assist device 20 can include one or more flexible sensors 340 embedded in or otherwise attached to a fluid-filled cushioning device 342 (such as an air bladder integrated into the midsole 48). Embodiments of such a cushioning device 342 are FIG. 14A to FIG. 14B , and are further described in U.S. Patent Application Publication No. 2021 / 0368925, which is incorporated by reference in its entirety.

[0072] 10 , the walking engine 23 may receive pressure data, accelerometer data, motion data, joint flexion angle data, GPS data, biometric data (e.g., heart rate or breathing rate), and / or body / limb posture data from one or more clothing sensors 210 and / or from one or more wearable device sensors 212. While a smart watch, ring, or fitness tracker are examples of wearable device sensors 212 that can communicate with the walking engine 23, examples of clothing sensors may include a shirt 400 or a hosiery article 402 (e.g., compression pants 104) that includes a sensor system 404 for sensing force, movement, and / or other biomechanical parameters, such as Figures 15 to 16B As generally illustrated, the shirt 400 and hosiery 402 in these embodiments can include sensors 406 at the joint areas that communicate with a control module 408. The control module 408 is operable to collect data reflecting one or more biomechanical parameters from the sensors 406. The module 406 can collect various forms of data and transmit it to the walking engine 23, as similarly described above.

[0073] The walking controller 200 can receive data from the various sensors 208, 210, 212 and analyze it to better understand the user's current biomechanical movement pattern, physical state, fatigue level, and current surrounding environment. Based on this analysis, the walking controller 200 can determine the appropriate amount and timing of assistance to provide to meet the user's preset goals, improve the user's form during activities, or help the user with training.

[0074] In addition to being used for walking assistance purposes, the data collected by controller 200 can be used to measure various other sports performance characteristics. For example, data can be used to measure the degree and / or speed of the internal rotation / external rotation of the foot, the foot landing pattern, balance and other such parameters, which can then be used to provide guidance or technical advice to the user to improve the technology in running / jogging or other athletic activities. Similarly, speed and distance monitoring can be performed, which may include measurements based on a pedometer, such as contact measurements or hanging time measurements. Jump height can also be measured, such as by using contact or hanging time measurements. Lateral cutting forces can be measured, including differential forces applied to different parts of shoe 100 during cutting. Sensors can also be positioned to measure shear forces, such as foot sliding laterally in shoe 26. As an example, additional sensors can be incorporated into the side of the upper 30 of shoe 26 to sense the force against the side.

[0075] In order to receive user input and provide feedback to the user, in some embodiments, walking engine 23 can carry out two-way communication with mobile device 228 (such as smart phone).In some embodiments, data or the measurement result derived from sensor data can be presented to the user via the display arranged on mobile device 228.This data can be used for sports training purposes, including improving speed, strength, agility, consistency, technology, and for providing active, real-time feedback to the user.Mobile device 228 can also be configured to be used as the input device of controller 200 via display and suitable digitizer / input device.In some embodiments, the user can use mobile device to input one or more training goals, target parameters or other such training profiles or biomechanical motion patterns that can control the degree of assistance provided by device 20.

[0076] In some configurations, the walking engine 23 can also provide real-time feedback to the user by including one or more vibration / tactile elements in the shoe 26. In other embodiments, the walking engine 23 can provide real-time feedback by vibrating the tension applied through the cable 28 using a low-magnitude oscillating tension provided at a periodic frequency. In either case, this tactile response capability can enable the walking engine 23 to provide feedback to the user to alert the user to deviations in speed, pace, or form from the expected profile, provide warnings about dangerous conditions or approaching vehicles, or provide navigation directions. Similar tactile feedback features are disclosed in U.S. Patents Nos. 6,978,684 and 11,553,754, both of which are incorporated herein by reference in their entirety and cover all of their disclosures.

[0077] In one configuration, the walking controller 200 is configured to analyze the data received from the sensor 206 to determine whether any derived biomechanical motion pattern deviates from the desired biomechanical motion pattern. If there is a deviation, and if the deviation is of a type that can be corrected or adjusted by the walking assist device 20, the walking controller 200 can operate the motor 24 in a manner that provides assistance to the user and corrects the motion pattern deviation. In addition, in some embodiments, when it is determined that there is a deviation from the desired biomechanical motion pattern, the walking controller 200 can generate an indication to the user, which can be provided to the user through a suitable mobile device 228 or a haptic controller. The deviation from the desired biomechanical motion pattern can be determined by using a biomechanical motion template, which can be stored in the memory of the walking engine 23. The deviation from the template can indicate a deviation from the desired biomechanical motion pattern. It should be understood that the determination of "deviation" can include a threshold change, wherein the data will not be considered to deviate from the template unless the threshold is exceeded.

[0078] The motion template can be obtained in various ways. As an example, the template can be included in a software application stored in the memory of the walking engine 23 and / or obtained from other tangible storage media. As another example, the template can be accessed by communicating with another electronic device, such as downloading through the Internet or other networks. As another example, the template can be created by the user by selecting a desired motion pattern or recording the actual motion pattern of the user or another person. It should be understood that any such template can be stored in a memory.

[0079] Examples of biomechanical motion templates that can be used in conjunction with embodiments of the system include various foot strike and other running templates, such as templates for foot strike pattern, foot strike load or force, gait speed, stride length, foot strike contact time, speed, distance, foot strike cadence, internal rotation / external rotation, stride force, upper body motion, tilt, asymmetry, posture, etc. Data collected by sensors incorporated into the article of footwear 26 can be compared to one or more of these templates. Additional examples of biomechanical motion templates that can be used in conjunction with embodiments of the system include templates for: running form, throwing form (throwing form can be customized for specific activities (such as baseball, football, softball, cricket, etc.)), basketball shooting form, swing form (swing form can be customized for specific activities (such as baseball, golf, tennis, hockey, etc.)), kicking form (for example, for soccer or football), skating or roller skating form, jumping form, climbing form, weightlifting or other fixed exercise form, posture, and many other templates corresponding to many other biomechanical movement patterns. Templates can be created based on many different topics, including preferred or "proper" biomechanical movement patterns (such as with input from a coach, trainer, sports medicine professional, etc.), a user's past biomechanical movement patterns, biomechanical movement patterns of famous athletes or other celebrities, and so on.

[0080] In one embodiment, for example, at least Figures 1 to 10BThe method of the walking assist device 20 shown to provide walking assistance to the user can start with the user 10 putting on the walking assist device 20. In some cases, this can include putting on a compression pants 104 with an integrated Bowden cable 28 and a walking engine 23, putting on a pair of sports shoes 26, and connecting the Bowden cable 28 of the compression pants 104 to a suitable cable connector 50 on the shoe 26. Once put on, various footwear sensors 208, clothing sensors 210 and / or wearable sensors 212 can begin to transmit data to the walking engine 23. In one embodiment, the walking engine 23 can receive data from various sensors 208, 210, 212 in real time and / or in a substantially continuous manner, which can be achieved by periodically transmitting individual data units or data packets in various embodiments. In other embodiments, the walking engine 23 can receive the collected past data incrementally or in a single transmission.

[0081] The controller 200 of the walking engine 23 can then analyze the data to determine whether the user is in motion, whether a regular and predictable stride is being taken, and / or whether the user's motion deviates from an expected or desired biomechanical motion pattern. In one configuration, the controller 200 can determine whether there is a deviation from the expected or desired pattern by comparing the received data to one or more templates that have been selected. If a deviation from the expected or desired motion pattern is detected, the controller 200 can energize the motor / actuator 24 to selectively tighten the Bowden cable 28 and apply the resulting torque to the user's foot / ankle. Depending on the nature of the deviation, the timing of the applied motor actuation can coincide with any part of the user's gait, however, in the most likely case, the motor may tighten the corresponding Bowden cable 28 when pressure is sensed between the user's forefoot and the sole structure 32, the pressure between the user's heel and the sole structure 32 is decreasing toward zero, and the user is moving along the terrain as a whole.

[0082] In some embodiments, the controller 200 may also include the nature of the terrain into its determination of whether and when to apply torque to the user's foot / ankle 22. For example, the controller 200 may include software that adjusts or changes the expected or desired biomechanical movement pattern based on location information received from an onboard GPS module in combination with environmental information and / or terrain information. In such an instance, if the user is running on an incline, the controller 200 may adjust the expected foot strike pattern and duration to provide a potentially longer or shorter time to apply torque, and / or may initiate torque at a different threshold heel pressure than the threshold heel pressure used by the controller 200 on flat ground. It may also assume a longer duration of foot strike because stride length may decrease when, for example, running uphill.

[0083] During a particular activity, the user may periodically receive instructions and / or alerts from the walking engine 23, for example, by transmitting a signal through the walking engine 23 to a second electronic device (such as a mobile device 228 held by the user during the activity). The indication may notify the user when the assist torque is changed relative to the nominal baseline, or if the user's contribution to the overall walking is below a predetermined threshold percentage. The indications and alerts may be visual, auditory, and / or tactile / haptic (via a mobile device or via a haptic motor in the user's shoe or by a jitter of tension in a cable), depending on the electronic device capabilities and / or user selections. For example, in some embodiments, the indications and alerts may provide specific instructional guidelines to the user during a motor activity.

[0084] After completing the motor activity session, the system can provide feedback to the user based on the data recorded during the activity and the auxiliary torque or effort applied to the user. In certain embodiments, the feedback can include an activity report for subsequent motor activity sessions, such as the recommended distance and speed for the next run, to achieve the best training plan. Based on the nature and duration of the activity and the specific movement assisted, the feedback can also include the stretching activity after the motor activity session. In addition to stretching and strengthening the foot, the stretching exercise of suggestion can also include calf stretching and strengthening. The system can also prompt the user to input the input related to the discomfort perceived during the motor activity, which can include the degree of discomfort and / or specify the general discomfort area (arch, heel, calf, etc.). Therefore, the perceived discomfort input may affect the feedback reported to the user. In the duration of using the device 20, the controller 200 can be configured to record multiple motor activities of a specific user. The parameters recorded can include the total time and / or distance of the recorded data provided by the position data from the GPS module, the auxiliary amount of each activity and / or the percentage of the user's effort relative to the total consumption (device+user) effort.

[0085] In another embodiment, the walking engine 23 and associated software can provide users with the ability to view performance metrics from previous activities and identify successful areas and / or areas that need improvement. This feature can be incorporated into the creation of the above-mentioned "ideal" activities, and can provide users with the ability to modify certain aspects of the template of the "ideal" activity. Additionally, recording past performance metrics can enable users to track performance, improvements, trends, progress, etc. over a period of time, and the device can provide such past data for access and viewing. Similarly, users can manually control the amount of assistance for subsequent activities after viewing the amount of assistance and total effort for past activities. The type of information tracked by the walking engine 23 can include the degree of success that meets various templates and additional information, including but not limited to speed, distance, number of steps or repetitions, energy used, jump height / distance, stride length, and any other information mentioned elsewhere in this article. The recorded data from the activity can be uploaded from the walking engine 23 to another device, such as through the "synchronization" program used in the art. Therefore, one or more devices can record the cumulative performance metric data of many different activities over time, and further processing and refinement can be performed to present such data in a form that is easy for users to view. In one embodiment, the recorded data and / or analyzed data can be uploaded to a remote server / website for access via a web page, and can be additionally shared with an online "community" where users can compare progress and activity with other users. Online communities can also have filtering capabilities, such as to allow users to compare information with other people with similar physiques, activity levels, ages, etc. Online communities can also have "challenge" capabilities to allow one user to challenge another user to achieve an achievement, such as more consistently meeting a biomechanical motion template. Data and other information obtained from users can also be used in the context of a social network as described below, and it should be understood that a social network can be integrated with an online community or otherwise associated with an online community. In addition, in one embodiment, a device 110 used in conjunction with such performance metrics can form a detailed user profile that includes performance data and related personal information and other information. Such a user profile can also be used in an online community as described above and / or for a social network, as described below. As more data is collected, (one or more) devices can provide more closely customized data presentation, analysis, and improvement suggestions or instructions.

[0086] In one embodiment, the device and associated software may provide one or more data input screens for the user to enter personal data that can be used to build a user profile. For example, the user may be prompted to enter physical data that may affect system performance and template selection, such as age, gender, height, weight, etc. As another example, the user may be prompted to enter identification information, such as name, date of birth, login information (e.g., username and password), etc. As another example, the user may be prompted to enter preference information, such as interests, terrain and / or environmental preferences, color and layout preferences, and general software function preferences, including feedback preferences, such as the form of indication of success / failure, what data is collected, analyzed and / or displayed, and other functional preferences. As yet another example, the user may be prompted to enter data about a planned future activity that will utilize the device 20, such as the length and intensity of the activity, the specific goals of the activity, the desired function of the device 20 for the activity, and other such information.

[0087] In another embodiment, the device and associated software may provide safety features that are activated when the device senses an incident (e.g., a fall) based on data received from the various sensors 208, 210, 212. For example, the walking engine 23 may detect a fall or other significant discontinuity in the data and may prompt the user to confirm whether there is a safety or health issue. If the user indicates that there is a problem, or if no response is received within a set time period, the walking engine 23 may contact emergency responders, such as by phone call, SMS, email, or other means. Depending on the capabilities of the various sensors, the walking engine 23 may also transmit information such as respiration, heart rate, temperature, etc.

[0088] In another embodiment, the device and associated software can be used in conjunction with a social networking application. For example, performance metric data can be compared with data from other social network contacts. As another example, the collected performance metric data can be converted into "points" or "credits" for a social network game, where users can use such points or credits to modify or further play such games. This can provide users with an additional source of encouragement to achieve performance and exercise goals. Additional ways to acquire, manage, and analyze sensed user motion (which can be used as a basis for dynamically adjusting the timing and intensity of assisted walking responses) can be found in U.S. Patent Application Publication No. 2021 / 0197021, which is incorporated by reference in its entirety and covers all contents disclosed therein.

[0089] Although the foregoing disclosure focuses primarily on assisting a user in walking or running, in some embodiments, similar assistive devices may be used to enhance a user's jumping motion, such as FIG. 17A to FIG. 18. In this embodiment, the jumping assist device 500 may include one or more linear (spring-bar) actuators 502 extending downward from a control package 504 worn on the back or waist of the user. When actuated, the linear actuators 502 may contact and apply force to the ground 506 to add additional energy to the user's jump. This embodiment may rely on similar sensory feedback and technology as the walking assist device 20, but it may rely on different expected or desired biomechanical movement patterns to gauge the appropriate time and degree to initiate assisted jumping.

[0090] In some embodiments, linear actuator 502 may be a pneumatic actuator that extends outwardly beyond the sole of a user's shoe in response to control package 504 expelling a controlled pressurized gas or fluid charge into actuator 502 . Fig.17A The jump assist device 500 is generally illustrated in a "loaded" state 510, while Fig. 17B Jump assist device 500 is illustrated in an "assist" state 512. In loaded state 510, distal end 514 of actuator 502 is flush with the ground contacting surface of a user's shoe.

[0091] When the user begins to jump, the control package 504 can receive sensory data from one or more footwear sensors 208, clothing sensors 210, wearable sensors 212, or onboard sensors to determine a motion pattern that typically precedes a jump, followed by the initiation of an upward weight transfer, and then a reduction in heel pressure. Upon sensing the appropriate motion pattern, the control package 504 can release a gas charge into a pneumatic cylinder that causes an actuator to extend beyond the sole, such as Fig. 17B In some embodiments, the actuator 502 can be physically separated from the control package 504, but can include one or more high-pressure air lines extending between the package 504 and the actuator 502. For example, in one configuration, the pneumatic actuator portion of the linear actuator 502 can be coupled to the user's lower leg 516 and can be in fluid communication with the control package 504 via an intermediate air conduit. Fig.18 Schematic diagram of the triggered Fig.17A and Fig. 17B The user 10 is shown behind the jump assist device 500. As shown, the jump assist device 500 allows the user to fly to new heights while also bringing joy to everyone (except the defense player 516, who does not have his own jump assist device).

[0092] Although the previous examples have focused on wearable assistive devices, in some embodiments, the assistive device may be a wearable device such as Figures 19 to 21These embodiments include a powered follower device 600 (i.e., "follower 600") that is interconnected with the user 10 via one or more belts, rods, or other such interconnecting links 602. The follower 600 may include a motor 604 that powers at least one drive wheel 606 for propulsion.

[0093] Very similar to Fig. 10B The schematically illustrated walking assist device 20 may, in some embodiments, be a Fig.21 As shown, the follower 600 may include a controller 608 in communication with the motor 604, the memory 610, the communication circuit 204, one or more local sensor systems 612, and one or more remote sensor systems 614. The local sensor system 612 may include, for example, one or more accelerometers, a rotation sensor attached to the drive wheel 606, an inertial measurement unit, a GPS unit, a load sensor configured to monitor the approximate mass of the follower 600 and / or the cargo supported by the follower 600, a load sensor configured to monitor the force applied by or to the user, and / or a gyroscope sensor. The one or more remote sensor systems 614 may include, for example, the footwear sensor 208, the clothing sensor 210, and / or the wearable sensor 212, as described above.

[0094] In general, controller 608 may drive motor 604 and coupled drive wheel 606 based at least on data received by local sensor system 612 and / or remote sensor system 614. In some embodiments, controller 608 may execute software code stored in associated memory 610 that drives motor 604 with the specific purpose of applying a defined amount of resistance or assistance (i.e., a net applied force) to user 10 during the user's walking motion. For clarity, a negative net force may be considered a resistance force, and a positive net force may represent an assist force.

[0095] In one configuration, the net applied force can have a magnitude that attempts to track a target net applied force. In some embodiments, the target net applied force can be set directly, such as by inputting a predefined resistance / assistance value, a curve, or a step function. However, in other embodiments, the target net applied force can vary as a function of one or more training goals 616, environmental factors, sensed biomechanical factors, and / or sensed biometric factors. For example, a method of controlling a follower can begin with a user inputting one or more training goals 616 into a user device 228 that digitally communicates with the follower 600. The user device 228 or controller 608 can develop a training plan based on one or more discrete training sessions to meet the goals (i.e., each training session can have a session plan, and longer training sessions can have multiple session plans with daily deviations based on previous strains, rest, and recovery).

[0096] During a given training session, the controller 608 can monitor one or more local sensor systems 612 and / or one or more remote sensor systems 614 to determine the user's instantaneous performance relative to the plan. In some embodiments, the plan can be defined by a target energy output by the user, or by a target heart rate, or simply by a target resistance in a high-intensity interval training mode. Throughout the training session, the controller 608 can dynamically adjust the session plan based on the user's real-time biomechanical performance and / or biometric parameters. For example, if the user is struggling to achieve a set goal and is therefore overexerting, the controller 608 can adjust the goal downward for the session to keep the user in an optimal training state that minimizes the chance of injury. During control of the drive wheel 606, the target net applied force can be the dependent variable in a control scheme that attempts to follow the established (and potentially dynamically modified) session plan.

[0097] In a particular embodiment, the controller 608 can formulate a session plan that attempts to maximize specific calorie burn. In doing so, the device 228 or the controller 608 can formulate a session plan characterized by a predefined resistance curve, in which certain time periods may have a first negative net applied force and can be characterized as a significant resistance, similar to pulling a weighted sled. Other time periods may have a second negative net applied force greater than the first negative net applied force (i.e., its negative value / resistance is less), and can be characterized as a slight resistance similar to running on a moderate slope. In addition, other time periods may have a third positive net applied force and can be characterized as a recovery phase. During exercise, the controller 608 can monitor the user's biomechanical performance and / or biometric parameters, and can dynamically change the distribution of the target net applied force based on the feedback. For example, if the user's heart rate exceeds a desired threshold, or the user's foot landing pattern deviates from the desired foot landing pattern, or the user's gait is unexpectedly shortened, the controller can reduce the amount of resistance applied via the follower 600. Likewise, in some embodiments, the controller 608 may vary the target net force profile in an effort to keep the sensed parameter within a predefined range or on a predefined profile. For example, the controller 608 may generally follow an intermittent resistance profile, but may also adjust specific resistances to encourage the user's heart rate to follow a predefined curve or remain within a predefined band.

[0098] In some embodiments, the follower 600 may also be configured to adaptively adjust the torque output to compensate for the weight of the follower 600 (and any cargo / passengers). Fig.19 As shown, this dynamic load compensation can allow the user to train while accompanying the child (much like pulling a carrier behind a bicycle). Fig. 20As shown, this dynamic adjustment can also allow users to pull heavy loads (e.g., passengers in a rickshaw) for longer than they would otherwise be able to do.

[0099] In yet another embodiment, the follower 600 may be configured to apply a strong resistance if it senses that continued movement of the user 10 will place the user 10 in a dangerous situation. For example, in some embodiments, the controller 608 may include communication capabilities that enable it to identify the presence of one or more approaching vehicles. This awareness may enable the controller 608 to take remedial / preventative measures to prevent a collision by applying one or more alerts or resistances via the drive wheel 606. For example, the controller 608 may be part of an Internet of Adaptive Apparel and Footwear (IoAAF) system, or communicate wirelessly with the IoAAF, such as described in U.S. Patent Application Publication No. US2019 / 0365014, which is incorporated by reference in its entirety and covers all contents disclosed therein. However, unlike the '014 application, the present following system may have the ability to stop or greatly limit the user's forward movement before a collision may occur.

[0100] In a general sense, any / all auxiliary devices 20, 400, 600 described herein may be components in a broader digital ecosystem that rewards exercise and physical activity. For example, in one configuration, the exercise and usage data recorded from the auxiliary device 20, 400, 600 may be used as a mechanism or trigger for distributing certain rewards. These rewards may include, but are not limited to: distributing one or more digital collectibles; receiving or purchasing one or more digital or physical items; evolving owned or associated digital collectibles; and / or digital credits redeemable for digital collectibles, physical items, access rights, and / or discounts on future purchases of digital and / or physical items.

[0101] As an example of such a reward system, in one configuration, a user's motion and / or usage data can be uploaded from the apparatus 20, 400, 600 (directly or via an associated computing device / smartphone) to a user account on a remote computing device. In some embodiments, the remote computing device can convert motion and usage data into scores (e.g., multiple "points") that can be aggregated by the user in multiple training sessions or uses. This conversion to points can take into account various factors, such as usage time, total distance, total number of steps, user effort spent, and / or user growth from an initial baseline. Once the user's total number of aggregated points exceeds a threshold, the user can have one or more digital experiences or opportunities available for claiming. Alternatively, the total number of aggregated points can automatically initiate one or more changes to the digital assets / collections associated with the user's account. In some embodiments, these changes can be irreversible evolutionary changes in the design, color, size, appearance, or functionality of the digital collectibles. In other embodiments, these changes can be temporary changes that are either directly applied to the digital collectibles or made available to the user for the user to subsequently apply to the digital collectibles. Such changes after application can be similar to skins that users can earn and then apply to characters, avatars, or objects within, for example, a virtual environment or video game.

[0102] In one particular embodiment, the motion and biometric data collected by the walking assist device can be used to generate a unique input that triggers the distribution and modification of digital collectibles associated with the user's account. For example, the user can connect the device to a mobile application operating on a portable computing device 228 or to a remote host or cloud computing system connected to the Internet. As the user walks or exercises, the device can track metrics such as, for example, steps, distance, heart rate, and / or calories. These metrics can then be uploaded to a connected computing device, where they can be converted into "fitness coins" or "energy tokens" according to a predefined conversion formula. In some embodiments, these "coins" or "tokens" can be unique blockchain-registered assets generated directly in response to the user's overall activity or for that particular session.

[0103] After each session, the newly generated coins or tokens can be added to the count or collection of coins / tokens in the user's account. From here, the user can then use or "spend" coins / tokens in various ways, such as to obtain product discounts, obtain exclusive access to physical or digital product releases, or use them in a crypto fitness community or metaverse. For example, in crypto-type use, users can have a collection of digitally unique character avatars, digital collectibles, or character NFTs that live / exist in a metaverse based on exercise. As users accumulate more fitness coins, users can use / spend these tokens to "feed" or take care of their character NFTs / avatars / digital collectibles. This care and feeding can enable character NFTs / avatars / digital collectibles to gain experience points, evolve, and / or gain new abilities or features over time. In some embodiments, rarer character NFTs require more fitness coins to evolve, which can create an engaging gameplay loop in which more activities can obtain more exclusive digital content. In other embodiments, fitness coins can be used / spent to unlock NFTs / digital collectibles similar to customizable clothing or footwear products, which can be used or worn by the user's metaverse avatar. Such customizable clothing or footwear articles may include shoes, shirts, hats, accessories, or footwear that reflect the user's personal style and progress. In this way, the walking assist device and the fitness metaverse combine to transform exercise into tangible digital ownership, gameplay, and community. It incentivizes activity through digital rewards directly related to personal biometrics and achievements. Additional examples of cryptographically protected digital collectibles that can be received or evolved using the present system include those described in U.S. Patents Nos. 11,308,184 and 11,475,449 and U.S. Patent Application Publication No. 18 / 305,308 filed on April 21, 2023, each of which is incorporated by reference in its entirety and covers all contents disclosed therein.

[0104] The technology described herein relates broadly to a device that can assist and / or resist the walking motion of a user. In some embodiments, the device can be configured to apply torque directly to the user's foot or ankle in the least obtrusive way possible. For example, in one configuration, the device can include a walking engine with a controller and a motor, which is attached to the user's waist or close to the user's waist to minimize the perceived weight of the system. The walking engine can be interconnected with the user's shoes via an intermediate cable, which can be selectively attached to a connector arranged on the rear end portion of the shoe. In some embodiments, the interconnecting cable can be permanently or temporarily integrated into a clothing article (such as a pair of compression pants or other similar leg coverings). In one configuration, the interconnecting cable can extend through a lumen formed at a seam, where adjacent pieces of material are coupled. In the configuration where the cable is temporarily fixed to the clothing article, one or more temporary fixing devices (such as hook-and-loop fasteners, snaps or zippers) can be used to complete. During use, the walking engine can apply auxiliary force to the user's foot to help the user push off by plantar flexion during walking or running gait.

[0105] In an embodiment, the walking assist device includes a walking engine installed at the waist with a motor, a controller and a sensor, and the walking engine is connected to the user's shoes via a cable integrated into a clothing article such as compression pants. The walking engine controls the motor based on analyzing sensor data to determine the gait phase to provide auxiliary force to the user's ankle / foot during walking / running. In a more specific embodiment, the walking assist device may include a belt with a walking engine, the belt includes an embedded control module, a communication circuit for wireless communication with one or more sensors installed on the body, a power supply, a motor and one or more on-board sensors including a gyroscope, an accelerometer and / or a tension sensor. The belt is configured to surround the user's waist and be worn during walking or running activities. The device also includes a pair of shoes or is configured to be used with a pair of shoes, and the pair of shoes is configured to be worn on the user's foot, and each shoe has a cable connector integrated into the rear end portion of the corresponding shoe. An interconnecting cable (such as a Bowden cable) can interconnect the motor with the connector on the shoe. In some embodiments, the interconnecting cable can be integrated into a lumen or seam of a clothing article such as compression pants. The control module can be configured to analyze data from onboard sensors and / or body mounted sensors to determine the foot strike and leg swing phases of the user during walking or running. The controller can selectively actuate a motor in the walking engine to tension the cable and provide an assistive plantar flexion torque to the cable connector on the shoe during the detected terminal push-off phase occurring just prior to leg swing.

[0106] In some embodiments, the motor can be controlled to achieve or otherwise follow one or more pre-established biomechanical motion patterns stored in memory before the user starts the activity. During the activity, the controller can receive sensor data from one or more local sensor systems or remote sensor systems, and the data can be analyzed to compare the real-time biomechanical performance of the user with respect to the pre-established pattern. In some embodiments, the biomechanical motion pattern can include a specific or desired speed profile, energy consumption, heart rate, foot landing pattern, morphology, joint movement, posture, etc. In addition, although the overall use of the system may attempt to control or assist the user to achieve a specific motion pattern (e.g., speed or effort spent), the timing of actuating the motor must be periodically selected to be consistent with the push-off portion of the user's stride. To achieve this, the controller can receive and analyze foot landing data to determine when the user applies pressure to the sole of the shoe in the forefoot area, while reducing the pressure on the sole in the heel area, and this foot landing pattern will occur when the user has an overall forward momentum / speed. The specific timing of applying force to the user's foot may further change according to the known terrain profile of the local terrain and the heading / direction of travel sensed by the user.

[0107] In an embodiment, a method for controlling a walking assist device or an external follower device may include formulating a biomechanical motion template, collecting sensor data during an activity, analyzing the data to determine deviations from the template, and operating a motor to provide a corrective torque / force based on the deviation. In a more specific embodiment, the present disclosure details a method for providing real-time gait assistance using a lightweight walking exoskeleton device. The method includes storing a template of target joint motion profiles and ground reaction forces during a walking activity such as running or walking; having the user wear an exoskeleton device, the device including a plurality of body-mounted sensors and one or more powered joint actuators; receiving motion and force sensor data associated with the user from the body-mounted sensors during the walking activity; determining the deviation of the joint motion and ground reaction forces from the template; identifying a corrective torque curve to be applied by the actuator to minimize the determined deviation; controlling the actuator to apply a corrective torque to the user that is proportional to the corrective curve; and in some embodiments, when the deviation exceeds a threshold level, the device can provide visual or audio feedback to the user indicating a specific deviation from the template.

[0108] While the primary embodiments described above include devices for directly actuating the user's shoes, in other embodiments, assistive force or resistance may be provided by an external two-wheeled carriage-like following device that is connected to the user via one or more intermediate interconnecting devices (such as rods, links, belts, etc.). In addition to the possibility of providing assistive force to the user (e.g., to increase overall endurance), the following device may also be configured to provide a varying resistance to the user for athletic training or conditioning. In some embodiments, the following member may include one or more seating surfaces that enable the user to pull passengers such as children or customers as a means of paid transportation. The following member may utilize one or more load sensors to determine the approximate mass of the passengers and / or cargo, and dynamically adjust the amount of torque provided to the motor so that the total force required by the user remains constant, regardless of the mass of the following member and any transported load. This may be particularly useful in stopping a heavy following member.

[0109] In an embodiment, a method for providing adaptive exercise assistance using an automatic following machine may, for example, begin by receiving a user's target heart rate curve or training goal and determining a terrain map for a predetermined user run; applying a first assist force to the user via the following machine, the following machine including an electric motor, a powered drive wheel, and communicating with one or more sensors, the one or more sensors including a wearable biometric sensor on the user's body, the following machine being connected to the user via a tether; receiving the user's heart rate via the wearable biometric sensor; comparing the monitored heart rate with the target heart rate curve at the current time point in the run; determining that the monitored heart rate deviates from the target curve by a threshold value, thereby indicating that the user is overexerting; in response to the determined deviation, adjusting the assist force applied by the following machine via the tether to a second assist force to reduce strain on the user, the second assist force being greater than the first assist force; and continuing to adjust the assist force applied by the following machine during the run to minimize the deviation of the user's heart rate from the target heart rate curve.

[0110] In some embodiments, a follower can be integrated into the IoAAF system and can selectively increase the resistance applied as a precaution to prevent a collision between the user and one or more neighboring motor vehicles. In some embodiments, a follower can be configured with two independently driven wheels and can be configured to provide navigational cues or guidance to the user by varying the assistive force or resistance applied between the two wheels. For example, if the left wheel is more assistive (or less resistive) than the right wheel, the follower can slightly nudge the user in a rightward direction. This nudge can serve as a navigational cue for the user to turn right (e.g., at an intersection).

[0111] In an embodiment, the present disclosure also relates to the integration of a walking assist device with a digital asset ecosystem. In such an embodiment, usage data can trigger the distribution of rewards such as digital collectibles, credits, or unique access rights. Achieving usage milestones can unlock or evolve blockchain-secured digital assets associated with a user's account. For example, a system for rewarding physical activity may include a walking assist device that is configured to collect user motion data during exercise and transmit the collected data to a server. The server is then configured to convert the motion data into a plurality of digital points based on one or more preset conversion criteria, and record the digital points to the user account. One or more digital collection items may be associated with a user account that receives digital points from exercise, and the server may then be configured to modify the appearance, performance, functionality, or utility of the digital collection item when the accumulated points reach or exceed a predefined threshold.

[0112] Additional technologies that may be incorporated into or used in conjunction with the present walking assist device are provided in the following U.S. patent references, each of which is hereby incorporated by reference in its entirety and encompasses all of the contents disclosed therein: U.S. Patent Application Publication No. 2021 / 0368925, which relates to footwear airbag technology with integrated sensors; U.S. Patent Application Publication No. 2023 / 0138485, which relates to an adaptive cushioning system for footwear; U.S. Patent No. 9,908,027, which relates to apparel and footwear systems; U.S. Patent Application Publication Nos. 2022 / 0202121, 2020 / 0375269, and 2022 / 0202104, which relate to adaptive clothing; U.S. Patent Application Publication No. 2020 / 0368579 and U.S. Patent No. 10,055,948, which relate to tactile and / or ultrasonic feedback in clothing; and U.S. Patent Application Publication No. 2022 / 0193490 and U.S. Patent Nos. 11,513,610 and 10,568,381, which relate to gesture control. Each of these references describes in detail a system that can be used with the present walking assist device for sensing user motion or intent, providing feedback to the user for alerting or navigation, or for improving the user's form, ride, or endurance during use of the walking assist device.

[0113] For example, various aspects of the present disclosure can be implemented by a computer executable instruction program such as a program module, which is generally referred to as a software application or application program executed by any one of the controllers or controller variants described herein. In a non-limiting example, software can include routines, programs, objects, components, and data structures that perform specific tasks or implement specific data types. The software can form an interface to allow the computer to react according to an input source. The software can also collaborate with other code segments to start various tasks in response to received data (which is received together with the source of the received data). The software can be stored in any one of various storage media (such as CD-ROM, disk, solid-state drive (SSD), hard disk drive (HDD), and semiconductor memory (e.g., various types of RAM or ROM)).

[0114] In addition, various aspects of the present disclosure can be practiced with various computer systems and computer network configurations, including multiprocessor systems, microprocessor-based or programmable consumer electronics, minicomputers, mainframe computers, etc. In addition, various aspects of the present disclosure can be practiced in a distributed computing environment, where tasks are performed by resident and remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices. Therefore, various aspects of the present disclosure can be implemented in conjunction with various hardware, software, or combinations thereof in a computer system or other processing system.

[0115] As noted in this disclosure, the present system may utilize public or private blockchain infrastructures, distributed ledgers, append-only databases, and the like. In one instance, the cryptographically protected digital assets currently described may initially be stored / pinned to a private blockchain that resides on an infrastructure maintained by a single entity or a consortium of entities. While the assets of any one entity may be maintained by that entity, each entity may agree on a common form or data construct for the infrastructure. Such a model may provide for sharing of network and infrastructure costs / resources while allowing each entity to maintain its own asset independence. For further public trust, assets created on this private or semi-private blockchain may be transferred to a public chain at the discretion of the user (possibly subject to one or more transfer conditions).

[0116] Any of the methods described herein may include machine-readable instructions for execution by: (a) a processor, (b) a controller, and / or (c) any other suitable processing device. Any algorithm, software, control logic, protocol, or method disclosed herein may be embodied as software stored on a tangible medium (such as, for example, a flash memory, a CD-ROM, a solid-state drive (SSD) device, a hard disk drive (HDD) device, a digital versatile disk (DVD), or other memory device). The entire algorithm, control logic, protocol, or method and / or portions thereof may alternatively be executed by a device other than a controller and / or embodied in firmware or dedicated hardware in a usable manner (e.g., implemented by an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable logic design (FPLD), discrete logic, etc.). In addition, although specific algorithms are described with reference to the flowcharts depicted herein, many other methods for implementing the example machine-readable instructions may be used alternatively.

[0117] Various aspects of the present disclosure have been described in detail with reference to the illustrated embodiments; however, those skilled in the art will recognize that many modifications may be made thereto without departing from the scope of the present disclosure. The present disclosure is not limited to the precise configurations and compositions disclosed herein; and any and all modifications, changes and variations apparent in the foregoing description are within the scope of the present disclosure as defined by the appended claims. Furthermore, the concepts of the present disclosure expressly include any and all combinations and sub-combinations of the foregoing elements and features.

[0118] Further aspects and embodiments of the present disclosure are provided in the following list of clauses, which should be read in light of the above disclosure:

[0119] Item 1. A walking assist system, comprising: a walking engine, which is configured to be mounted at the waist of a user, the walking engine including a motor and a controller; a clothing article, which can be worn by the user and is integrated with one or more cables connected to the motor; one or more shoes, which can be worn on the foot of the user, each shoe is connected to a corresponding cable via a connector; and wherein the controller is configured to: receive sensor data from one or more sensors located on the user; analyze the sensor data to determine the gait phase of the user; during the push-off phase of the gait cycle, selectively control the motor to tension the one or more cables and provide assistive force to the foot of the user.

[0120] Clause 2. The system of Clause 1, wherein the article of clothing comprises a compression pants having a lumen at a seam, the one or more cables extending through the lumen.

[0121] Clause 3. The system of clause 1, wherein the walking engine further comprises the one or more sensors located on the user, the sensors comprising at least one of: an accelerometer, a gyroscope, or a strain sensor.

[0122] Clause 4. The system of clause 1, wherein the one or more sensors include at least one sensor located in each shoe of the one or more shoes.

[0123] Clause 5. The system of Clause 4, wherein the at least one sensor located in each shoe comprises a force sensor positioned to detect a force applied to a sole of the shoe.

[0124] Clause 6. The system of clause 1, wherein the one or more sensors are configured to wirelessly transmit the sensor data to the controller.

[0125] Clause 7. The system of Clause 1, wherein the controller is further configured to control the timing and magnitude of the assist force based on received sensor data.

[0126] Clause 8. The system of clause 1, wherein the controller is further configured to: store a biomechanical motion template; compare the sensor data to the template; and selectively control the motor based on a deviation between the sensor data and the template.

[0127] Clause 9. The system of clause 1, wherein the connector is located on a rear portion of each shoe.

[0128] Clause 10. The system of clause 1, wherein the cable coupled to each shoe comprises a Bowden cable.

[0129] Item 11. A method for providing walking assistance using a lightweight assistive device, the method comprising: receiving sensor data from one or more sensors located on a walking assist device worn by a user; analyzing the sensor data to identify a gait phase of the user; and during a push-off phase of the gait cycle, actuating a motor on the walking assist device to tension one or more cables connected between the motor and a shoe worn by the user, thereby providing an assistive force to the user's foot.

[0130] Clause 12. The method of clause 11, wherein analyzing the sensor data comprises: comparing the sensor data with a pre-stored biomechanical motion template; and identifying deviations between the sensor data and the template.

[0131] Clause 13. The method of clause 12, further comprising: controlling the timing and magnitude of the assist force based on the identified deviation.

[0132] Clause 14. The method according to clause 11, wherein the walking assist device comprises: a walking engine, the walking engine being configured to be mounted at the waist of the user, the walking engine comprising the motor and the controller; and a clothing article, the clothing article being wearable by the user and integrating the one or more cables.

[0133] Clause 15. The method of clause 11, wherein the sensor data is received from sensors located in a shoe worn by the user and sensors located on the walking assist device.

[0134] Item 16. A method for controlling a walking assist device, the method comprising: storing a biomechanical motion template in a memory of the walking assist device; receiving sensor data from one or more sensors during user activity; analyzing the sensor data to identify deviations from the biomechanical motion template; determining a corrective force based on the identified deviation; and selectively operating a motor to apply the corrective force to the user.

[0135] Clause 17. The method of clause 16, wherein the biomechanical motion template comprises a target gait pattern, the target gait pattern comprising foot strike characteristics.

[0136] Clause 18. The method of Clause 16, wherein receiving sensor data comprises receiving data from one or more sensors located on the walking assist device and one or more sensors worn by the user.

[0137] Clause 19. The method of clause 16, wherein analyzing the sensor data comprises comparing the sensor data to the biomechanical motion template using a control algorithm executed by a processor.

[0138] Clause 20. The method of clause 16, further comprising providing feedback to the user when the identified deviation exceeds a threshold.

[0139] Clause 21. The method of clause 16, wherein determining the corrective force comprises calculating a torque value for each joint of the user to minimize the identified deviation.

[0140] Clause 22. The method of clause 16, wherein selectively operating the motor comprises applying the corrective force to the user in real time during the activity.

[0141] Clause 23. The method of clause 16, further comprising modifying a stored biomechanical movement template based on past performance of the user.

[0142] Clause 24. A method for controlling a following assist device, the method comprising: storing a target performance template for a training activity; monitoring a user's performance during the training activity; identifying deviations between the monitored performance and the target performance template; determining modifications to the assist force applied to the user by the following assist device to minimize the identified deviations; and controlling the following assist device to apply the modified assist force.

[0143] Clause 25. The method of clause 24, wherein the target performance template comprises a target heart rate curve.

[0144] Clause 26. The method of clause 24, wherein monitoring performance comprises receiving heart rate data from a biometric sensor worn by the user.

[0145] Clause 27. The method of clause 24, wherein the modification of the assist force comprises at least one of magnitude, direction, or timing.

[0146] Clause 28. The method of Clause 24, further comprising updating the target performance template based on the user's past performance.

[0147] Clause 29. The method of clause 24, wherein the following assistance device is coupled to the user and applies the assist force via a tether.

[0148] Clause 30. The method of clause 24, further comprising providing feedback to the user when the identified deviation exceeds a threshold.

[0149] Clause 31. A system for rewarding physical activity, comprising: a walking assist device configured to collect user motion data during exercise and transmit the collected data to a server; wherein the server is configured to: convert the motion data into a plurality of digital points based on one or more preset conversion criteria; record the digital points to a user account; and when the accumulated points reach or exceed a predefined threshold, modify the appearance, performance, or utility of a digital collectible item associated with the user account.

[0150] Clause 31. The system of clause 31, wherein the walking assist device is configured to be worn by the user during activities including walking, running, or jumping.

[0151] Clause 32. A system according to clause 31, wherein the motion data includes at least one of steps, distance, calories, heart rate, or exercise duration.

[0152] Clause 33. A system as described in Clause 31, wherein the digital collectible item comprises a non-fungible token registered on a blockchain.

[0153] Clause 34. The system of clause 34, wherein modifying the digital collectible item comprises evolving the non-fungible token.

[0154] Clause 35. The system of clause 31, wherein the predefined threshold is variable based on a rarity of the digital collectible item.

[0155] Clause 36. The system of clause 31, wherein the digital point can be used by the user in a metaverse environment.

[0156] Clause 37. The system of Clause 31, wherein the server is further configured to grant the user exclusive access to digital content when the accumulated points exceed the predefined threshold.

[0157] Clause 38. The system of clause 31, wherein exceeding the predefined threshold permanently changes the digital collectible item.

[0158] Clause 39. The system of clause 31, wherein the modification comprises changing the visual appearance of an avatar associated with the user account.

[0159] Clause 40. A method for rewarding physical activity, comprising: receiving user motion data from a walking assist device at a server; converting the motion data into digital fitness tokens based on predefined rules; allocating the digital fitness tokens to a user account; providing digital collectible items to the user account; and modifying the digital collectible items when the user account accumulates a threshold number of the digital fitness tokens.

[0160] Clause 41. A method according to clause 41, wherein the exercise data includes exercise duration, and the predefined rule allocates tokens proportional to the duration.

[0161] Clause 42. The method of clause 41, wherein modifying the digital collectible item comprises evolving the item.

[0162] Clause 43. The method of clause 41, wherein the digital collectible item is associated with a metaverse environment.

[0163] Clause 44. The method of clause 41 further includes enabling a user to access restricted digital content when a threshold number of tokens are accumulated.

Claims

1. A walking assistance system, comprising: a walking engine configured to be mounted at the waist of a user, the walking engine comprising a motor and a controller; an article of clothing wearable by the user and incorporating one or more cables coupled to the motor; one or more shoes, the one or more shoes being wearable on the user's foot, each shoe being coupled to a corresponding cable via a connector; and The controller is configured to: receive sensor data from one or more sensors located on the user; analyze the sensor data to determine the user's gait phase; and selectively control the motor to tension the one or more cables and provide assistive force to the foot of the user during a push-off phase of the gait cycle.

2. The system of claim 1, wherein the article of clothing comprises a compression pant having a lumen at a seam, the one or more cables extending through the lumen.

3. The system of claim 1, wherein the walking engine further comprises the one or more sensors located on the user, the sensors comprising at least one of: an accelerometer, a gyroscope, or a strain sensor. 4 . The system of claim 1 , wherein the one or more sensors include at least one sensor located in each of the one or more shoes.

5. The system of claim 4, wherein the at least one sensor located in each shoe comprises a force sensor positioned to detect a force applied to a sole of the shoe.

6. The system of claim 1, wherein the one or more sensors are configured to wirelessly transmit the sensor data to the controller. 7 . The system of claim 1 , wherein the controller is further configured to control the timing and magnitude of the assist force based on received sensor data.

8. The system of claim 1, wherein the controller is further configured to: store a biomechanical motion template; compare the sensor data to the template; and selectively control the motor based on a deviation between the sensor data and the template.

9. The system of claim 1, wherein the connector is located on a rear portion of each shoe.

10. The system of claim 1, wherein the cable coupled to each shoe comprises a Bowden cable.

11. A method for providing walking assistance using a lightweight assistive device, the method comprising: receiving sensor data from one or more sensors located on a walking assist device worn by a user; analyzing the sensor data to identify a gait phase of the user; as well as During the push-off phase of the gait cycle, a motor on the walking assist device is actuated to tension one or more cables coupled between the motor and a shoe worn by the user, thereby providing an assistive force to the user's foot.

12. The method of claim 11, wherein analyzing the sensor data comprises: comparing the sensor data with a pre-stored biomechanical motion template; and identifying deviations between the sensor data and the template.

13. The method according to claim 12, further comprising: The timing and magnitude of the assist force are controlled based on the identified deviation.

14. The method of claim 11, wherein the walking assist device comprises: a walking engine, the walking engine being configured to be mounted at the waist of the user, the walking engine comprising the motor and a controller; An article of clothing wearable by the user and incorporating the one or more cables.

15. The method of claim 11, wherein the sensor data is received from sensors located in a shoe worn by the user and sensors located on the walking assist device.

16. A walking assist device, comprising: a waist belt having an embedded control module in communication with a plurality of sensors, the waist belt being configured to be encircled around a user's waist and worn during a walking or running activity; a pair of shoes configured to be worn on a foot of the user, each shoe having a cable connector integrated into a heel counter on a rear portion of the shoe; a pair of elastic compression pants configured to be worn by the user, the elastic compression pants having a plurality of Bowden cables integrated into seams on the sides of the pants, the cables connected to motors in the waistband and having ends coupled to the cable connectors on the shoe; The control module analyzes data received from the plurality of sensors to determine foot strike and leg swing phases of the user during walking or running, and selectively actuates a tension sensor in the waist belt to tension the Bowden cable and provide an assistive plantar flexion torque to the cable connector on the shoe during a detected terminal push-off phase occurring just prior to leg swing.

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