External harness

Abstract

An exterior harness may include an exterior harness garment having a waist opening, a first leg opening, and a second leg opening, the exterior harness garment further including a first thigh portion and a second thigh portion, with a thigh cuff bracket supported by the first thigh portion.

Description

BACKGROUND

[0001] Exoskeletons are also sometimes referred to as powered exoskeletons, exoframes, robotic suits, hard suits, etc. Exoskeletons are mobile machines that can be worn on all or part of the human body to provide enhanced mobility and ergonomic structural support. BRIEF DESCRIPTION OF DRAWINGS

[0002] Figure 1 is an elevational view schematically showing portions of an example exoskeleton.

[0003] Figure 2 is an elevational view schematically showing portions of an example exoskeleton. Figure 1 is a side view of the example exoskeleton of

[0004] Figure 3 is an elevational view schematically showing portions of an example exoskeleton.

[0005] Figure 4 is a side view of the example exoskeleton of Figure 3

[0006] is a side view of an example leg grip of the leg grip adjuster of Figure 5 Figure 3 is a side view of an example leg grip of the leg grip adjuster of

[0007] Figure 6 Figure 5 is a side view of an example leg grip of the leg grip adjuster of

[0008] Figure 7 is a top view of portions of one example of the leg grip of Figure 5

[0009] is a top view of an example of the leg grip of Figure 8 Figure 6 Figure 7 is a top view of an example of the leg grip of

[0010] Figure 9 is a top view of portions of one example of the leg grip of Figure 5

[0011] Figure 10 is a top view of an example of the leg grip of Figure 6 Figure 9

[0012] Figure 11 is a cross-sectional view showing portions of an example exoskeleton having a leg grip with a first inner leg receiving diameter.​​​​​​​

[0013] Figure 12 is a cross-sectional view showing portions of an example external harness of Figure 11 having leg grips with a second, smaller inner leg-receiving diameter.

[0014] Figure 13 is a cross-sectional view of one example of an external harness of Figure 11 and 12 .

[0015] Figure 14 is a cross-sectional view of another example of an external harness of Figure 11 and 12 .

[0016] Figure 15 is a cross-sectional view showing portions of an example external harness of Figure 11 and 12 .

[0017] Figure 16 is a cross-sectional view showing portions of an example external harness of Figure 11 and 12 .

[0018] Figure 17 is a front perspective view showing portions of an example external harness.

[0019] Figure 18 is a side perspective view showing portions of an example external harness of Figure 17 .

[0020] Figure 19A is a side perspective view showing an example external harness containing a garment having holes and openings in an uncovered state.

[0021] Figure 19B is a side perspective view showing portions of an example external harness of Figure 19A in which the holes and openings are in a covered state.

[0022] Figure 19C is a cross-sectional view showing portions of an example external harness of Figure 19B .

[0023] Figure 19D is a side of an example external harness containing a garment having holes and openings in an uncovered state.

[0024] Figure 19E is a side perspective view showing portions of an example external harness of Figure 19D in which the holes and openings are in a covered state.

[0025] Figure 19Fis a side perspective view showing portions of an example external harness having holes and openings in a covered state.

[0026] Figure 20 is a perspective view showing an example motion assist lateral device without attachment. Figure 18 is a partial perspective view of the exterior of an example external harness.

[0027] Figure 21 is a partial perspective view showing a rolled up Figure 17 is a partial perspective view of the garment of the external harness of

[0028] Figure 22 is a perspective view showing portions of an example leg grab, lower leg grab, and ankle grab of Figure 17

[0029] Figure 23 is a perspective view showing portions of an example external harness of Figure 17

[0030] Figure 24 is a partial perspective view showing an example upper leg grab.

[0031] Figure 25A is a perspective view showing portions of an example upper leg grab of Figure 24

[0032] Figure 25B is a perspective view showing portions of an example upper leg grab of Figure 25A

[0033] Figure 26 is a partial perspective view showing an example upper leg grab of Figure 25A

[0034] Figure 27A is a cross-sectional view of portions of the upper leg grab of Figure 26 taken along line 27A-27A.

[0035] Figure 27B is an exploded perspective view showing portions of an example leg grab of Figure 26

[0036] Figure 28 is a perspective view showing portions of an example inner pad of an example upper leg grab of Figure 26

[0037] Figure 29 is a perspective view showing portions of an example inner pad of Figure 28

[0038] Figure 30 ​​​​​​​​is taken along line 30-30 Figure 28 is a cross-sectional view of an exemplary inner liner of the

[0039] Figure 31 is a perspective view of a portion of an exemplary inner liner of the Figure 28

[0040] Figure 32 is a perspective view of a portion of an exemplary lower leg grip portion unit of the

[0041] Figure 33 is a perspective view of a portion of an exemplary lower leg grip portion unit of the Figure 32

[0042] Figure 34 is a partial perspective view of a portion of an exemplary lower leg grip portion unit of the Figure 32

[0043] Figure 35A is a partial exploded perspective view of a portion of an exemplary lower leg grip portion unit of the Figure 32

[0044] Figure 35B is an exploded perspective view of a portion of an exemplary lower leg grip portion unit of the Figure 32

[0045] Figure 36 is a perspective view of an exemplary strap of an exemplary ankle grip portion of an exemplary lower leg grip portion unit of the Figure 32

[0046] Figure 37 is a perspective view of a portion of an exemplary lower leg grip portion unit of the Figure 32

[0047] Figure 38 is a perspective view of a portion of an exemplary inner liner of an exemplary lower leg grip portion unit of the Figure 32

[0048] Figure 39 is a perspective view of a portion of an exemplary inner liner of an exemplary lower leg grip portion unit of the Figure 32

[0049] Figure 40 is a perspective view of a portion of an exemplary ankle grip portion of an exemplary lower leg grip portion unit of the Figure 32

[0050] Figure 41 is a partial perspective view of a portion of an ankle grip portion of a lower leg grip portion unit of the Figure 32

[0051] ​​​​​​​​​​​Figure 42 is a top perspective view showing a portion of the ankle grip of the lower leg grip unit of Figure 32

[0052] Figure 43 is a top perspective view showing a portion of the ankle grip of the lower leg grip unit of Figure 32

[0053] Figure 44 is a top perspective view showing a portion of the inner liner of the ankle grip of the lower leg grip unit of Figure 32

[0054] Figure 45 is a partial perspective view showing a portion of the exemplary connection interface of the exemplary motion-assistive lateral device for connection to an upper leg grip.

[0055] Figure 46 is a partial perspective view showing the exemplary connection interface of Figure 45 engaging the connection interface of an exemplary upper leg grip.

[0056] Figure 47 is a cross-sectional view showing the exemplary connection interface of Figure 45 engaging the connection interface of an exemplary upper leg grip.

[0057] Figure 48 is a perspective view showing the connection of the exemplary connection interface of the lower leg grip engaging the exemplary connection interface of the motion-assistive lateral device.

[0058] Figure 49 is a perspective view of a lower portion of an exemplary motion-assistive lateral device.

[0059] Figure 50 is a partial perspective view showing a portion of the exemplary connection interface of the exemplary motion-assistive lateral device. Figure 48

[0060] is a partial perspective view showing the connection of the exemplary connection interface of the lower leg grip engaging the exemplary connection interface of the motion-assistive lateral device. Figure 51

[0061] is a cross-sectional view showing the exemplary connection interface of the motion-assistive lateral device and the exemplary connection interface of the lower leg grip during interlocking. Figure 52

[0062] is a cross-sectional view showing the exemplary connection interface of the motion-assistive lateral device and the exemplary connection interface of the lower leg grip during interlocking. Figure 53

[0063] is a cross-sectional view showing the exemplary connection interface of the motion-assistive lateral device and the exemplary connection interface of the lower leg grip during interlocking.​​​Figure 54 is a cross-sectional view showing an example connection interface of an example motion-assistive lateral device and an example connection interface of a lower leg grip portion during release of the example connection interface of the motion-assistive lateral device from the example connection interface of the lower leg grip portion.

[0064] Figure 55 is a perspective view showing portions of an example external harness.

[0065] Figure 56 is a perspective view showing portions of an example external harness.

[0066] Figure 57 is a front perspective view showing portions of an example external harness.

[0067] Figure 58 is a rear perspective view showing portions of an example external harness of Figure 57

[0068] Figure 59 is a side perspective view showing portions of an example external harness of Figure 57

[0069] Figure 60 is an enlarged partial side view of an example upper leg grip portion of an example external harness of Figure 57

[0070] Figure 61 is an enlarged partial side view of an example lower leg grip portion of an example external harness of Figure 57

[0071] Figure 62 is a force diagram showing example forces applied by an example motion- assistive lateral device to a person’s leg during an up-step action.

[0072] Figure 63 is a force diagram showing example forces applied by an example motion- assistive lateral device to a person’s leg during a down-step action.

[0073] Throughout the drawings, like reference numerals designate similar, but not necessarily identical, elements. The drawings are not necessarily to scale and the dimensions of some parts can be exaggerated so as to illustrate the examples shown therein. Furthermore, the drawings provide examples and / or embodiments consistent with the description; however, the description is not limited to the examples and / or embodiments provided in the drawings. DETAILED DESCRIPTION

[0074] ​​​​An example external harness is disclosed that is worn by a person to provide enhanced or powered mobility or movement to one or more legs of the person. The example external harness utilizes electrically powered actuators, such as motors or pumps, to assist in raising and lowering the person's thighs and lower legs (lower legs). The example external harness can be used for a variety of applications, including outdoor activities, sports activities, hiking, climbing, walking, running, skiing, other civilian applications, physical therapy activities, physical rehabilitation activities, other medical applications, and industrial applications.

[0075] The example external harness can include an external harness garment, upper and lower leg grips, and at least one mobility assistance lateral (MAL) structure. The garment is configured to be worn by a person and can be in the form of pants (the term "pants" includes shorts). The garment can include a waist opening and a pair of leg openings. The garment can be formed from a sheet or panel of flexible material, such as fabric, polymer, etc., where the sheet or panel is cut and sewn, fused and / or bonded together to form the pants. In some embodiments, the material forming the sheet or panel is air-permeable or breathable. In some embodiments, the material forming the sheet or panel is inelastic. In some embodiments, the material is elastic or stretchable. In some embodiments, the pants can be formed from multiple pieces or layers that are sewn, bonded or fused together to form the pants, where different layers have different material properties.

[0076] The pants can include an inseam. The pants can include pockets. In some embodiments, the pants can include a fly with a zipper. The size and length of the pants can vary. In other embodiments, the pants can be shorts.

[0077] The garment can be configured to conceal or cover at least one of the leg grips. The example garment is also configured to facilitate connection of the inner leg grips and the outer MALs. In some embodiments, the example external harness garment facilitates support of at least one leg grip when the person positions his or her leg to be connected with the leg grip. In some embodiments, the example external harness garment is connected to at least one leg grip by at least one flexible tether. The flexible tether allows for adjustment of the size and / or position of the leg grip relative to the garment while maintaining the fit and appearance of the garment.

[0078] In some embodiments, the example external harness garment is releasably connected to at least one leg grip, thereby facilitating use of the leg grip with different garments and facilitating washing of such garments separately from the leg grip. In some embodiments, at least one of the leg grips can be adjusted or differently constricted to accommodate different leg sizes. In such embodiments, the example external harness garment can include openings, flaps or slits to provide access to the portion of the leg grip located within the garment to facilitate manual adjustment of the leg grip.

[0079] Exemplary leg grips facilitate connecting the MAL to a person's leg. Exemplary external harnesses can include an upper leg grip for connecting the MAL to a person's thigh and a lower leg grip for connecting the MAL to a person's calf. In some embodiments, exemplary external harnesses can additionally include an ankle grip. In some embodiments, the ankle grip is connected to the calf grip. In some embodiments, the ankle grip is fixed to the calf grip. In some embodiments, the upper leg grip is in the form of a thigh cuff configured to completely encircle a person's thigh while wearing the external harness. In some embodiments, the lower leg grip is in the form of a calf cuff forming an uninterrupted loop configured to completely encircle a person's calf or lower leg, where the person's leg must pass through the center of the loop. In some embodiments, the upper leg grip and / or the lower leg grip can be in the form of an interrupted or broken loop having a C-shape or U-shape, thereby allowing the person to insert a portion of his or her leg into the grip in a lateral or sideways manner perpendicular to the centerline of the broken loop. In embodiments where an ankle grip is provided, the ankle grip can be in the form of a broken loop, thereby allowing the person to insert a portion of his or her leg into the ankle grip in a sideways or lateral manner perpendicular to the centerline of the broken loop. In those embodiments where the upper leg grip, the lower leg grip, or the ankle grip are each in the form of a broken loop, the opposite ends of the broken loop can be releasably connected to each other by a strap, hook, fastener, or other connection mechanism.

[0080] In some embodiments, the upper leg grip, the lower leg grip, and / or the ankle grip (when provided) can have an adjustable inner diameter or adjustable leg opening to accommodate different leg sizes. In some embodiments, one or more of the leg grips can include end portions that overlap each other to form an uninterrupted loop, and a retainer for selectively adjusting and retaining different degrees of overlap of the end portions to provide different inner leg opening sizes to the respective leg grips. In some embodiments, the leg grips can include a strap having a rack or series of teeth and a pinion gear that meshes with the series of teeth, where a knob, dial, or other adjustment interface can be used to rotate the pinion gear to adjust the degree to which the opposite ends of the strap overlap each other to adjust the size of the leg opening of the leg grip. In some embodiments, the leg grips can include an inflatable sleeve or air bladder that extends completely or partially around the leg, where the degree of inflation can be adjusted to change the size of the leg opening of the leg grip.

[0081] In some embodiments, each leg cuff can be formed of a rigid but flexible exoskeleton and a compressible or conformable inner liner. The exoskeleton, sometimes referred to as a "hard sleeve," serves as the backbone or spine of the leg cuff, providing structural support to the leg cuff while being sufficiently flexible to facilitate wrapping the leg cuff around a person's leg. The exoskeleton can include a housing for accommodating components that facilitate adjusting the size of the leg opening of the leg cuff. The exoskeleton can also include a connection interface for releasably connecting the leg cuff to the MAL (through or at the top of the garment).

[0082] The inner liner, sometimes referred to as a "soft sleeve," provides cushioning or padding between the exoskeleton and the person's leg. The inner liner can include one or more pads. The pads can be formed of foam material (or a combination of foam materials), air bladders, or other shells containing gel or fluid (liquid or gas). In some embodiments, the inner liner is releasably connected to the exoskeleton to facilitate repair, replacement, or cleaning / washing of the inner liner. In some embodiments, the inner liner is releasably connected to the exoskeleton by hook-and-loop fastener means. In some embodiments, the inner liner is configured to accommodate adjustment of the leg opening size of the leg cuff. For example, the inner liner can include a foam member having an accordion-like portion or flap configuration. The corresponding similar configuration facilitates extension and retraction of the foam member. In such embodiments, the foam member can be housed or encased within an elastic outer shell or sleeve.

[0083] An exemplary MAL extends along the outside of the garment and is releasably connected to the leg cuffs through openings in the garment. The MAL is positioned on the lateral side of the person's leg, extending from above to below the knee. The exemplary MAL provides powered motion or augmentation to the person's upper and lower legs while wearing the external harness. The exemplary MAL includes a powered actuator, an upper link, and a lower link. The powered actuator is configured to be positioned proximate the person's knee and is configured to pivot the upper and lower links about a MAL axis of curvature proximate the knee. In some embodiments, the powered actuator can be in the form of an electric motor and a gear train. In some embodiments, the powered actuator can be in the form of a pump that outputs pressurized fluid (liquid or gas) for use in hydraulically / pneumatically pivoting the upper and lower links.

[0084] In some embodiments, the powered actuator is powered by a battery carried by the garment. The garment can include a pocket adjacent or proximate to the waist opening, where the pocket includes a lower opening through which one or more electrical wires or cables pass. The garment can include a sleeve or other internal structure to hold the power supply wires along the interior of the garment, along the leg portions of the pants. The garment can include an opening proximate to the location of the powered actuator, where the power supply wires or cables can exit the garment for connection to a connection port or plug that electrically connects to the powered actuator. Since the garment supports the power supply for the powered actuator at a location along the waist opening of the garment, the mass of the battery does not need to be lifted as the person's leg motion is augmented. The mass of the battery can be more comfortably positioned along the back of the person wearing the garment and external harness, while also being less noticeable and reducing the pressure on the back of the person wearing the external harness. In other embodiments, the power supply or battery for the powered actuator can be located in other locations.

[0085] The upper link is operably coupled to the powered actuator and has an end portion that is connected through the garment to the upper leg grip. The lower link is operably coupled to the powered actuator and has an end portion that is connected through the garment to the lower leg grip. As noted above, in some embodiments, the lower leg grip can be connected to an additional ankle grip, such that pivotal motion of the lower leg grip about the MAL axis results in similar pivoting of the ankle grip.

[0086] The upper link includes an upper link connection interface for connection to the upper leg grasp portion, while the lower link includes a lower link connection interface for connection to the lower leg grasp portion. In such embodiments, the upper leg grasp portion has an upper leg grasp portion connection interface configured to releasably connect to the upper link connection interface and the lower leg grasp portion has a lower leg grasp portion connection interface for releasable connection to the lower link connection interface. In some embodiments, the upper link connection interface and the upper leg grasp portion connection interface are different from the lower link connection interface and the lower leg grasp portion connection interface. In some embodiments, the lower link connection interface and the lower leg grasp portion connection interface are configured to facilitate connection by use of a sliding motion, the lower leg grasp portion and / or the lower link moving in a direction along a respective coincident or parallel axis extending along a centerline of the leg opening of the lower leg grasp portion or parallel to a main length of the lower leg link. Conversely, the upper link connection interface and the upper leg grasp portion connection interface are configured to facilitate connection by use of a lateral "snap" motion, the upper leg grasp portion and / or the upper link moving in a direction along a coincident or parallel axis extending radially along a centerline of the leg opening of the upper leg grasp portion or perpendicular to a main length of the upper leg link. Thus, a person wearing the external harness can more easily connect the respective MAL to his or her leg by first sliding the lower end of the lower leg link down (along the leg) into connection with the lower leg grasp portion, and then snapping or pushing the upper leg link inward (toward the leg) into connection with the upper leg grasp portion. The person need not bend over to connect the lower link to the lower leg grasp portion. Disconnection of the MAL from the leg grasp portions can be accomplished in reverse, with the person first releasing or snapping the upper leg link out of connection with the upper leg grasp portion, and then lifting or sliding the lower leg link in an upward manner to disconnect the lower leg link from the lower leg grasp portion. In some embodiments, such disconnection can involve pressing a lever or button to release a hook or latch of the connection formed by the corresponding interfaces.

[0087] For purposes of this disclosure, the term "coupled" shall mean the direct or indirect coupling between two members. Such coupling can be permanent or optional in nature. Such coupling can be achieved by an integral connection, in which the two members are formed as one unit, or by an attachment, in which the two members are attached to one another. Such coupling can be permanent or optional in nature. The term "operably coupled" shall mean the direct or indirect coupling between two members such that motion can be transferred from one member to the other member, either directly or via intermediate members.

[0088] For purposes of this disclosure, the phrase "configured to" shall mean an actual configuration state that fundamentally links the function / use to the physical characteristics of the feature that precedes the phrase "configured to".

[0089] For purposes of the present disclosure, the term "releasably" or "removably" with respect to the attachment or coupling of two structures means that the two structures can be repeatedly connected and disconnected from one another without causing substantial damage to either of the two structures or their functionality.

[0090] Figure 1 and Figure 2 is a diagram schematically showing portions of an example external harness 20. The external harness 20 provides enhanced or powered mobility for one or more leg portions of a person. The external harness 20 can use electrically powered actuators, such as motors or pumps, to assist in raising and lowering the person's thighs and lower legs. The external harness 20 can be used for various applications, including outdoor activities, sports activities, hiking, climbing, walking, running, skiing, other civilian applications, physical therapy activities, physical rehabilitation activities, other medical applications, and industrial applications. The external harness 20 includes an external harness garment 24, an upper leg grab portion support 26, an upper leg grab portion 28, a lower leg grab portion 32, and a MAL 40.

[0091] The external harness garment 24 is shown in solid lines. The external harness garment 24 includes pants shown in the form of shorts. The external harness garment 24 includes one or more pieces of fabric or other material that form a waist opening 44, leg openings 46-1, 46-2, and thigh portions 48-1, 48-2. In the example shown where the external harness garment 24 is shorts, the thigh portions 48 terminate at the leg openings 46. As described below, in other embodiments, the leg openings 46 can be located at a lower position on the pants.

[0092] The thigh portions 48 extend below the waist opening 44, generally below the cross / crotch point or crotch of the garment 24. The thigh portions 48 include sleeves that receive the thighs of a person wearing the garment 24. The thigh portions 48 are configured to additionally receive the upper leg grab portion 28 that extends at least partially around the thighs of a person wearing the garment 24. In the example shown where the external harness 20 includes a single upper leg grab portion 28 positioned within the thigh portion 48-1, the thigh portion 48-1 of the garment 24 additionally includes a connection hole 50 for connecting the upper leg grab portion 28 to the MAL 40.

[0093] The upper leg grab portion holder 26, which is schematically illustrated and sometimes referred to as a thigh cuff holder, releasably connects the upper leg grab portion 28 to the garment 24 within the garment 24. The upper leg grab portion holder 26 facilitates separation and removal of the upper leg grab portion 28 from the garment 24 to facilitate repair, replacement or laundering of the garment 24 and repair, replacement or laundering of the upper leg grab portion 28. In some embodiments, the upper leg grab portion holder 26 includes a zipper, with a first portion or strip of the zipper disposed on the holder 26 and cooperating with a second portion or strip of the zipper coupled to the upper leg grab portion 28 to releasably connect the garment 24 to the upper leg grab portion holder 26. In some embodiments, the upper leg grab portion holder 26 includes one of a hook and a loop of a hook-and-loop fastener device that cooperates with the other of the hook and the loop of the hook-and-loop fastener device coupled to the leg grab portion 28 to releasably connect the garment 24 to the upper leg grab portion holder 26. In some embodiments, the garment 24 and the upper leg grab portion 28 have other cooperating connection mechanisms, such as snaps, hooks, buttons, etc., that facilitate releasable connection.

[0094] In some embodiments, the upper leg grab portion holder 26 extends 360° around the centerline of the upper thigh portion 48-1. In some embodiments, the upper leg grab portion holder 26 includes a plurality of individual connections spaced apart from each other around the centerline of the upper thigh portion 48-1. In some embodiments, the upper leg grab portion holder 26 is located within the upper thigh portion 48-1. In other embodiments, the upper leg grab portion holder 26 can be located at a higher position between the upper extent of the upper thigh portion 48-1 and the waist opening 44. In some embodiments, the upper leg grab portion holder 26 does not releasably connect the upper leg grab portion 28 to the garment 24, but rather forms a more permanent fixed connection between the upper leg grab portion 28 and the garment 24.

[0095] In some embodiments, the upper leg grip holder 26 also functions as a tether, including one or more threads, strips, straps, panels, etc. located within the upper leg portion 48-1, with the upper leg grip holder 26 having a first end portion secured to the garment 24 and a second end portion connected to the upper leg grip 28. Including or functioning as a tether, the upper leg grip holder 26 flexibly or movably suspends the upper leg grip 28 from the garment 24 within the upper leg portion 48-1. In other words, the upper leg grip holder 26 allows for relative movement of the upper leg grip 28 with respect to the upper leg portion 48-1. The upper leg grip holder 26 facilitates the upper leg grip 28 being spaced inwardly from the inner side of the upper leg portion 48-1. As a result, an airflow passageway is provided between the interior of the upper leg portion 48-1 and the exterior of the upper leg grip 28. In addition, the side of a person wearing the garment 24 is not overly constricted. In embodiments where the upper leg grip 28 is adjustable to provide various user-selectable constriction sizes or degrees, the upper leg grip holder 26 allows the upper leg grip 28 to constrict with less or no inward movement or constriction of the upper leg portion 48-1 while maintaining a normal or desired appearance of the upper leg portion 48-1.

[0096] In some embodiments, the upper leg grip holder 26 has a length (extending from a connection point with the garment 24 to a connection point with the upper leg grip 28) of at least 0.5 inches and in some embodiments at least 1 inch. In other embodiments, the length of the upper leg grip holder 26 to the connection point with the upper leg grip 28 can be at least 2 inches. As will be described below, in some embodiments, the upper leg grip 28 can likewise be provided with a strap, strip, thread, etc. that functions as an additional tether, with a first end portion of the additional tether connected to a remainder of the upper leg grip 28 and a second end portion releasably or fixedly connected to the upper leg grip holder 26. In such embodiments, the additional tether of the upper leg grip 28 can also have a length. In such embodiments, the combined length of the length of the upper leg grip holder 26 and the length of the additional tether provided by the upper leg grip 28 is at least 1 inch and in some embodiments at least 2 inches to provide for adjustability of the upper leg grip 28 with little or no impact on the upper leg portion 48-1.

[0097] The upper leg grasp 28 and lower leg grasp 32 are each shown in dashed lines to indicate that they can be separable from the garment 24. The upper leg grasp 28 and lower leg grasp 32 are configured to connect a person's thigh and calf, respectively, to the MAL 40. The upper leg grasp 28 and lower leg grasp 32 can each include a connection interface 80-1 and 80-2, respectively, that releasably corresponds to a connection interface provided on the MAL 40. The upper leg grasp 28 is in the form of a thigh cuff that is configured to completely surround a person's thigh when the external harness is worn. The lower leg grasp 32 is similar to the upper leg grasp 28 in that the lower leg grasp 32 can be in the form of a calf cuff that is configured to completely surround a person's calf when the external harness is worn. In some embodiments, the upper leg grasp and / or lower leg grasp can be in the form of an interrupted or broken loop having a C-shape or U-shape, thereby allowing a person to insert a portion of his or her leg into the grasp in a transverse or lateral manner that is perpendicular to a centerline of the broken loop.

[0098] The MAL 40 is shown in dashed lines to indicate that it is separable from the upper leg grasp 28 and lower leg grasp 32 as well as the garment 24. The exemplary MAL 40 extends along an outer side of the garment and is releasably connected to the leg grasps 28 and 32 through openings in the garment 24. The MAL 40 is positioned along an outer side of a person's leg, extending from above the knee to below. The exemplary MAL 40 provides powered motion or augmentation of a person's upper leg and lower leg when the external harness is worn. The exemplary MAL includes a powered actuator 52, an upper link 54, and a lower link 56. The powered actuator 52 is configured to pivot the upper link 54 and lower link 56 about a MAL axis 58 that is proximate to a bending axis of the knee. In some embodiments, the powered actuator 52 can be in the form of an electric motor and gear transmission. In some embodiments, the powered actuator 52 can be in the form of a pump that outputs pressurized fluid (liquid or gas) for hydraulically / pneumatically pivoting the upper and lower links.

[0099] Although the external harness 20 is shown as having a single leg grasp 28, a single lower leg grasp 32, and a single MAL 40 on the right side of the garment 24, in other embodiments, the external harness 20 can include an additional upper leg grasp 28, an additional lower leg grasp 32, and an additional MAL 40 on the left side of the garment 24. In such embodiments, similar to the thigh portion 48-1, the thigh portion 40-2 can likewise incorporate the upper leg grasp holder 26 and can include a link connection hole that accommodates the connection between the internally received upper leg grasp 28 and the externally left MAL 40.

[0100] Figure 3 and Figure 4A portion of an example external harness 120 is shown. The external harness 120 is similar to the external harness 20, except that the external harness 120 includes an external harness garment 124, upper leg grabber supports 26-1, 26-2, lower leg grabber supports 127-1, 127-2, upper leg grabbers 28-1, 28-2, lower leg grabbers 32-1, 32-2, and MALs 40-1, 40-2. The external harness garment 124 is similar to the garment 24 described above, except that the external harness garment 124 includes pants configured to extend below the knees of a person wearing the garment 124 to receive portions of the lower legs of the person wearing the garment 124. The upper leg grabber supports 26-1 and 26-2 are each similar to the upper leg grabber supports 26 described above. The lower leg grabber supports 127-1, 127-2 are similar to the upper leg grabber supports 26-1 and 26-2, except that such supports are connected to lower leg portions of the garment 24 (below the knees of a person wearing the garment 124) and are configured to releasably support the lower leg grabbers 32-1 and 32-2, respectively. The lower leg grabbers 32 are described above with respect to the external harness 20. The MALs 40-1 and 40-2 are each similar to the MAL 40 described above.

[0101] As with the garment 24, the garment 124 includes link connection holes 50-1 and 50-2 through which the upper leg grabbers 28-1 and 28-2 are releasably connected to the upper links 54 of the MALs 40-1 and 40-2, respectively. Because each leg portion of the pants of the garment 124 also receives the lower leg grabbers 32-1, 32-2, the garment 124 additionally includes link connection holes 151-1 and 151-2 through which the lower leg grabbers 127-1 and 127-2 are releasably connected to the lower links 56 of the MALs 40-1 and 40-2, respectively.

[0102] In some embodiments, one or both of the upper leg grabbers 26 (sometimes referred to as thigh cuffs) and the lower leg grabbers 32 (sometimes referred to as calf cuffs) are adjustable to different sizes or degrees of constriction to accommodate different anatomical sizes or different comfort levels, respectively. Figure 5 and Figure 6 A portion of an example external harness 120 is shown, which is provided with selectively adjustable or constrictable upper leg grabbers and lower leg grabbers. Figure 5 The upper leg grabber 26-1 and the lower leg grabber 32-1 are shown in a larger, expanded state. Figure 6 The upper leg grabber 26-1 and the lower leg grabber 32-1 are shown in a smaller, constricted state.

[0103] Figure 7 and Figure 8are cross-sectional views showing portions of an example upper leg grip 128-1 in a larger state and a smaller, contracted state, respectively. The upper leg grip 128-1 can be used in place of each upper leg grip 26 of the external harness 20 or the external harness 120. Likewise, the lower leg grips 32 can also have a similar configuration as shown in Figure 7 and Figure 8 .

[0104] As shown in Figure 7 and 8 , the upper leg grip 128-1 has a first portion 159 with a first end 160 and a second portion 161 with a second end 162 that overlaps the first portion 159. The inner diameter or internal dimension D of the upper leg grip 128-1 can be adjusted by adjusting the degree to which the portions 159 and 161 overlap each other and maintaining the selected degree of overlap. In the example shown, the upper leg grip 128-1 includes a retainer 170 that maintains the portions 159 and 161 in one of a number of available states or degrees of overlap. In one embodiment, the retainer 170 can include mating portions of a hook-and-loop fastener device. In other embodiments, the retainer 170 can include mating buttons or knobs and slots or openings. In yet another embodiment, the retainer 170 can include a mating rack and pinion device, where the pinion can be locked in place or provided with sufficient frictional resistance to discourage inadvertent rotation. In yet another embodiment, the retainer 170 can include a series of snaps or other retention mechanisms.

[0105] Figure 9 and Figure 10 are cross-sectional views showing portions of an example upper leg grip 228-1 in a larger state and a smaller, contracted state, respectively, that can be used in place of each upper leg grip 26 of the external harness 20 or the external harness 120. Likewise, the lower leg grips 32 can also have a similar configuration as shown in Figure 9 and Figure 10 .

[0106] As shown in Figure 9 and 10 , the upper leg grip 228-1 includes a selectively inflatable elastic tube, sleeve, ring, or bladder 259 and an inflation port 261. In such embodiments, the external harness 120 can include an inflation mechanism, such as a powered or manual pump for inflating or deflating the bladder 259. In some embodiments, the 120 can omit such a pump, but the pump can be provided separately by a person using the 120 to adjust the degree to which the bladder 259 contracts around his or her thighs and / or his or her lower legs. As shown in Figure 9As shown, the air bladder 259 can be inflated to a first inflated state where the elastic material is in a more stretched state such that the upper leg grip 228-1 has a larger interior or larger diameter for accommodating and gripping a larger thigh (or larger calf). As shown, when the elastic material is in a less stretched state, the air bladder 259 can be inflated to a second inflated state that is larger than the first inflated state such that the upper leg grip 228-1 has a smaller interior or smaller diameter for gripping a smaller thigh (or smaller calf). Figure 10 As shown, when the elastic material is in a more stretched state, the air bladder 259 can be inflated to a second inflated state that is larger than the first inflated state such that the upper leg grip 228-1 has a smaller interior or smaller diameter for gripping a smaller thigh (or smaller calf).

[0107] As noted above, in some embodiments, the upper leg grip support 26 and / or the lower leg grip support 127 can additionally function as a tether to accommodate movement of the leg relative to the outer leg portion of the garment 24, 124 to facilitate air flow and to accommodate different contracted states of the upper leg grip 26, 128, 228 and / or lower leg grip 32 (when such adjustability is provided). Likewise, each of the upper leg grip 26, 128, 228 and lower leg grip 32 can also be provided with a tether to enhance the ability of the upper leg grip or lower leg grip to move relative to the garment. Figure 11 and Figure 12 Portions of an example garment 324 having such tethers are shown, with example upper leg grips 328 in a larger first contracted state and a smaller second contracted state, respectively.

[0108] Figure 11 and 12 Portions of an example outer harness 320 are shown. The outer harness 320 is similar to the outer harness 120 described above, except that the outer harness 320 specifically includes the garment 324, the upper leg grip support 326, and the upper leg grip 328. Figure 11 and 12 A thigh portion 348 of the garment 324 is shown. Although Figure 11 and 12 Portions of the right side of the outer harness 320 are shown, but it should be understood that the left side of the outer harness 320 has a similar construction, also including the upper leg grip support 326 and the upper leg grip 328 (similar to Figure 11 and Figure 12 the upper leg grip support and upper leg grip shown). In addition, the outer harness 320 likewise includes lower leg grip supports and lower leg grips (left and right) (at similar locations to the lower leg grip support 127 and lower leg grip 32 of the outer harness 120), where such lower leg grip supports and lower leg grips can be substantially similar to Figure 11 and 12The diagram shows the upper leg grip support and the upper leg grip. In some embodiments, the proportion or size of the lower leg grip may be smaller than that of the upper leg grip to accommodate the typically smaller anatomy of the lower leg.

[0109] like Figure 11 and 12 As shown, the upper leg gripping portion 328 can be in a first retracted state having an internal dimension D1 (as shown). Figure 11 (as shown) and a second, smaller contracted state with an internal dimension D2 (as shown) Figure 12 Actuation or contraction between (as shown). In this embodiment, the upper leg gripping portion 328 may have a similar shape to Figure 7 and 8 The upper leg gripping part 128-1 shown may have a similar structure or may have a similar structure. Figure 9 and 10 The structure of the upper leg gripping part 228-1 is shown. (As shown) Figure 11 and 12 As further shown, the upper leg grip 328 also includes a tether 374, a retraction adjuster 378, and a leg linkage connection interface 380.

[0110] The tether 374 includes a cord, strip, band, sheet, or other flexible member extending from the upper leg grip 328 and releasably connected to the upper leg link bracket 326 via a releasable connection mechanism 329. The upper leg link bracket 326 also includes a cord, strip, band, sheet, or other flexible member extending from the interior of the garment 324 and releasably connected to the tether 374 via the releasable connection mechanism 329. Figure 11 As shown, when the gripping part 328 is in a wider retracted state, the support 326 and / or the tether 374 can be folded or tied to accommodate the wider gripping part 328 on the upper leg. Figure 12 As shown, when the grip 328 is in a less retracted state, the support 326 and the tether 374 can be deployed and at least partially extended. The extension of the tether 374 and the support 326 allows movement of the upper leg grip 328, thereby reducing the impact on the external shape and size of the portions of the garment 324 surrounding the upper leg grip 328. In some embodiments, the support 326 and the tether 374 have a combined extended (unbound and deployed) maximum length of at least 1 inch. In other embodiments, the support 326 and the tether 374 have a combined extended (unbound and deployed) maximum length of at least 2 inches. In some embodiments, the support 326 and the tether 374 have a combined extended maximum length of at least 3 inches, and in some embodiments at least 4 inches. In some embodiments, the length of the tether 374 may be greater than the length of the support 326.

[0111] In some embodiments, one or both of the stays 326 and the tether 374 can be formed of a non-elastic fabric material. In other embodiments, one or both of the stays 326 and the tether 334 can be formed of an elastic material, such as an elastic fabric or an elastic polymer. As shown in Figure 13 In some embodiments, at least one of the stays 326 and the tether 374 extends substantially continuously around the interior of the leg portion (upper leg portion or thigh portion) of the garment 324. As shown in Figure 14 In some embodiments, at least one of the stays 326 and the tether 374 can include different portions spaced around the centerline 375 or around the interior of the leg portion of the garment 324. Although Figure 14 Four pairs of differently spaced stays 326 and tethers 374 are shown, but in other embodiments, one or both of the stays 326 and the tether 334 can include a greater or lesser number of such portions distributed at uniform or non-uniform spacing around the centerline 375.

[0112] The connection 329, shown schematically in Figure 11 and 12 releasably connects the stay 326 to the tether 374. The connection 329 facilitates separation of the tether 374 from the stay 326 to facilitate separation and removal of the upper leg grip 328 from the garment 324 to facilitate repair, replacement or laundering of the garment 324 and the upper leg grip 328 or portions thereof. Figure 15 and 16 Two alternative configurations of the connection 329 are shown.

[0113] Figure 15 An exemplary connection 429 is shown that includes a zipper (shown schematically) having a first portion or zipper tape carried by the stay 326 and a second portion or zipper tape carried by the tether 374. Figure 16 A connection 529 is shown that includes a pair of overlapping hook-and-loop patches. In some embodiments, the patches are large enough to allow adjustment of the degree of overlap of the stay 326 and the tether 374 to adjust the overall effective length of the stay 326 and the tether 374. In other embodiments, the connection 329 can have other configurations.

[0114] The constriction adjuster 378 includes a mechanism by which the size or inner diameter of the leg grip (in the illustrated example, the upper leg grip 328) can be adjusted. The constriction adjuster 378 extends through an opening 382 in the garment 324, providing manual access to the constriction adjuster 378 outside of the garment 324. In some embodiments, the constriction adjuster 370 can include a dial or rotatable knob. For example, in some embodiments, the constriction adjuster 370 can include a dial connected to a pinion gear that meshes with a corresponding rack gear of the leg grip. In some embodiments, the constriction adjuster 370 can include a valve for inflating or deflating the leg grip.

[0115] The leg link connection interface 380 extends from the leg grip (in the illustrated example, the upper leg grip or thigh grip) to a hole 386 in the garment 324 to facilitate connection between the leg grip within the garment 324 and the connection interface 381 of the MAL 40 located outside of the garment 324. In some embodiments, the leg link connection interface 380 is configured to provide a tool-less interface by which the interface 380 can be releasably connected to the MAL 40 without the use of tools. For example, in some embodiments, the interface 380 can simply snap or pop into connection with the MAL 40 and can be released from the MAL 40 in response to manual manipulation of one or more elastically biased buttons.

[0116] Figure 16 An exemplary connector 529 is shown that releasably connects the tether 374 of the leg grip 328 to the cradle 326. The connector 529 releasably connects the leg grip 328 within the garment 324 to the garment 324. The connector 529 includes a hook-and-loop fastener arrangement disposed on opposing mutually facing surfaces of the tether 374 and the cradle 326. The connector 529 can include a hook patch on one of the tether 374 and the cradle 326 and an opposing loop patch on the other of the tether 374 and the cradle 326.

[0117] Figures 17-54A portion of an exemplary external garment 520 is shown. External garment 520 provides enhanced or powered movement or mobility to a person's legs. External garment 520 may use electric actuators, such as motors or pumps, to help raise and lower a person's thighs and calves. External garment 520 can be used in a variety of applications, including outdoor activities, sports activities, hiking, climbing, walking, running, skiing, other civilian applications, physical therapy activities, physical recovery activities, other medical applications, and industrial applications. The external equipment 520 includes external equipment clothing 524, upper leg gripping brackets 526-1 and 526-2 (collectively referred to as brackets 526), ​​leg gripping brackets 527-1 and 527-2 (collectively referred to as brackets 527), upper leg gripping parts 528-1 and 528-2 (collectively referred to as gripping parts 528), lower leg gripping parts 532-1 and 532-2 (also referred to as gripping parts 532), ankle gripping parts 534-1 and 534-2 (simply referred to as gripping parts 534), and MAL 540-1 and 540-2 (commonly referred to as MAL 540).

[0118] like Figure 17 and 18 As shown, the outer garment 524 includes trousers configured to extend below the knees when worn. The outer garment 524 includes one or more panels of fabric or other material forming a waist opening 544, leg openings 546-1, 546-2 (collectively referred to as leg openings 546), thigh portions 548-1, 548-2 (collectively referred to as thigh portions 548), calf portions 549-1, 549-2 (collectively referred to as calf portions 549), pockets 602-1, 602-2 (collectively referred to as pockets 602), a placket 604, and a storage pocket 606 (in...). Figure 18 (as shown in the image).

[0119] The waist opening 544 includes an opening located above the thigh portion 548, configured to extend around the waist or hips of a person wearing the garment 524. The waist opening 544 may include an internal elastic band to adjust the size of the waist opening 544. The waist opening 544 may include an internal drawstring to adjust the size of the waist opening 544. In some embodiments, the garment 524 may include a loop 545 along and around the outer surface of the waist opening 544, through which a strap may pass and support the garment 524 relative to the waist of the person wearing the garment 524. In some embodiments, the front portion of the garment 524 may additionally include a front connector 547, such as a snap, button, or other fastener typically located above the placket 604. In some embodiments, the garment 524 may omit any mechanism for adjusting the size of the waist opening 544 or may omit the front connector 547 and / or the placket 604.

[0120] Thigh portions 548 extend below waist opening 544, generally below the cross / cane point or crotch of garment 524. Thigh portions 548 include sleeves that receive the thighs of a person wearing garment 524. Each thigh portion 548 is configured to additionally receive upper leg grasp 528, which extends at least partially around the thigh of a person wearing garment 524. As shown, Figure 20 each thigh portion 548 also includes a linkage connection hole 550 (as shown in Figure 19D ) for connecting the internally located upper leg grasp 528 (relative to the pant leg of garment 524) to the corresponding particular MAL 540, and a contraction adjuster opening 551 through which a contraction adjuster 632 (shown as including a dial) of upper leg grasp 528 extends or protrudes to the exterior of garment 524.

[0121] Calf portions 549 extend downward from thigh portions 548 and include those portions of pant of garment 524 that are configured to extend from and below the knee of a person wearing garment 524. Calf portions 549 extend between thigh portions 548 and leg openings 546. Similar to thigh portions 548, calf portions 549 include a linkage connection hole 650 (as shown in Figure 19D ) and a contraction adjuster hole or opening 651 (as shown in Figure 17 ). Like linkage connection holes 550, linkage connection holes 650 extend through one or more panels forming thigh portions 548 to facilitate connection between the internally located lower leg grasp 532 and the externally located MAL 540. Like contraction adjuster opening 551, contraction adjuster opening 651 extends through one or more panels forming calf portions 549 to facilitate manual access to the corresponding internally located contraction adjuster 732 of lower leg grasp 532.

[0122] As Figure 19A , 19BAs further shown in FIGS. 19C, in some embodiments, the garment 524 can additionally include one or more cover panels for covering and closing the apertures or openings when such apertures 550, 650 and openings 551, 651 are not in use, when the upper leg grips 528 and lower leg grip units 700 are not in use, or when the MALs 540 are not in use. In the illustrated example, the garment 524 includes cover panels 680 and 681 for selectively covering the apertures 550 and 650, respectively. In some embodiments, the cover panels 680, 681 include a flap of material cut from the remaining panels forming the garment 524, where the flap is bent or folded away from the aperture to facilitate connecting the upper leg grip 528 in the lower leg grip unit 700 to the associated MAL 540. When covering or closing the aperture, the flap can be bent and held over the aperture. In some embodiments, when the aperture 550, 650 is no longer used to connect the internal upper leg grip 528 or the internal lower leg grip unit 700 to the external MAL 540, instead of hanging or stretching beneath, above, or to the side of the aperture 550, 650, the cover panel 680, 681 can instead be rolled up or folded and secured in the rolled up or folded state.

[0123] The garment 524 additionally includes hood retainers 683, 685. The retainers 683 and 685 include attachment mechanisms that releasably or temporarily hold and secure the hood panels 680 and 681, respectively, in a state in which the hood panels 680, 681 extend over and cover their respective apertures 550, 650. In the illustrated example, the hood retainers 683 and 685 each take the form of a hook-and-loop fastener (VELCRO™) arrangement, in which the outer boundaries of the apertures 550, 650 include one of the hook-and-loop of a hook-and-loop fastener system, and in which at least the outer boundaries of the hood panels 680, 681 include the other of the hook-and-loop of the hook-and-loop fastener system. In other embodiments, the flaps that serve as the hood panels 680, 681 can be secured in the aperture-covering state by other releasable attachment mechanisms or retainers 683, 685 in the form of snaps, buttons, zippers, or the like. Although each of the flaps that form the hood panels 680, 681 is shown as being folded along a fold 687 under the respective aperture 550, 650, thereby utilizing gravity to help hold the hood panels 680, 681 in a position in which the apertures 550, 650 are open, in other embodiments, the hood panels 680, 681 can alternatively be folded over the apertures or on fold lines to the sides of the apertures. In other embodiments, the hood panels 680, 681 can be completely separate from the garment 524, rather than integrally formed as part of a single unitary whole with the other panels of the garment 524. Although shown as extending along the exterior of the garment 524 when covering the apertures 550, 650, in other embodiments, the hood panels 680, 681 can extend across or over the apertures 550, 650 on the interior of the leg of the garment 524. In some embodiments, the hood panels 680, 681 can be omitted.

[0124] In the illustrated example, the garment 524 additionally includes hood panels 690 and 691 for selectively covering the openings 551, 651, respectively. In some embodiments, the hood panels 690, 691 include flaps of material cut from the remaining panels that form the garment 524, in which the flaps are bent or folded away from the apertures to facilitate access to the manual interface (dial) of the contraction adjuster that is aligned with the openings 551 and 651 and can at least partially protrude through the openings 551 and 651. When the openings 551, 651 are to be covered or closed, the flaps can be bent and held over the openings. In some embodiments, when the openings 551, 651 are no longer used to provide an axis for the dial of the contraction adjuster at the interface, the hood panels 690, 691 can alternatively be rolled up or folded and secured in the rolled-up or folded state, instead of hanging or stretching beneath, above, or to the sides of the openings 551, 652.

[0125] The garment 524 additionally includes hood retainers 693, 695. The retainers 693 and 695 include attachment mechanisms that releasably or temporarily hold and secure the hood panels 690 and 691, respectively, in a state in which the hood panels 690, 691 extend over and cover their respective openings 551, 651. In the illustrated embodiment, the hood retainers 683 and 685 each take the form of a hook-and-loop fastener arrangement, in which the outer boundary of the openings 551, 651 includes one of the hook-and-loop fastener system, and in which at least the outer boundary of the hood panels 690, 695 includes the other of the hook-and-loop fastener system. In other embodiments, the flaps that serve as the hood panels 690, 691 can be secured in the hole-covering state by other releasable attachment mechanisms, such as snaps, buttons, zippers, and the like. Although each of the flaps that form the hood panels 690, 691 is shown folded along a fold over the respective opening 551, 651, thereby utilizing gravity to help hold the hood panels 690, 691 in a position in which the openings 551, 651 are uncovered. The hood panels 690, 691 can alternatively be folded over a fold line above or to the side of such a hole. In other embodiments, the hood panels 690, 691 can be completely separate from the garment 524, rather than integrally formed as part of a single unitary whole with the other panels of the garment 524. Although shown as extending along the exterior of the garment 524 when covering the openings 551, 651, in other embodiments, the hood panels 690, 691 can be secured across or over the openings 551, 651 on the interior of the leg of the garment 524. In some embodiments, the hood panels 690, 691 can be omitted.

[0126] Figure 19D and 19E A garment 524' is shown having a different configuration of a set of flaps for selectively covering the holes 550, 650 and the openings 551, 651. The remaining components of the garment 524' are the same as the garment 524 described above with reference to Figures 19A-19C As Figure 19D and 19EAs shown, garment 524' includes cover panels 680' and 681'. Cover panel 680' is sized and positioned to extend across and cover both hole 550 and opening 551. Similarly, cover panel 681' is sized and positioned to extend across and cover both hole 650 and opening 651. In the example shown, cover panels 680' and 681' can pivot downward and upward about a respective horizontal fold or flexible hinge (the location where the fabric or other material bends) from an uncovered hole / opening state to a covered hole / opening state. In other embodiments, cover panels 680' and 681' can alternatively pivot about a vertical fold in other directions from an uncovered state to a covered state. In other embodiments, cover panels 680' and 681' can alternatively pivot backward or forward about a vertical fold / flexible hinge between an uncovered hole / opening state and an uncovered hole / opening state.

[0127] like Figure 19D As shown, garment 524' may additionally include cover retainers 683' and 685' for retaining cover panels 680' and 681' in a covered and uncovered state, respectively. In the illustrated example, retainer 683' may include a hook-and-loop fastener device located below the periphery of cover panel 680' and along the periphery of the area of ​​garment 524' that includes both hole 550 and opening 551. In the illustrated example, garment 524' may also include retainers 693' and 695'. Retainer 693' may include a hook-and-loop fastener device located at the end of a strip configured to wrap around a rolled-up cover panel 680' to retain cover panel 680' in a rolled-up state, thereby exposing hole 550. Retainer 693' is positioned to support the upwardly rolled-up cover panel 680' above the upper end of MAL 540 when it is secured to the leg grip along the outside of garment 524'.

[0128] Similarly, retainer 685' can include hook-and-loop fastener devices along the perimeter of such a cover panel 681' and over the perimeter of the region of garment 524' that encompasses both hole 650 and opening 651. In the illustrated example, garment 524' can additionally include retainer 695'. Retainer 695' can include hook-and-loop fastener devices on the ends of a strap configured to wrap around the rolled-up cover panel 681' to retain cover panel 681' in a rolled-up state, thereby exposing hole 650 and opening 651. Retainer 695' is positioned to support a downwardly rolled-up cover panel 681' at a location below the lower end of MAL 540 when it is secured to the leg grab along the outside of garment 524'. Because cover panels 680' and 681' are rolled up in opposite directions away from the top and bottom ends of MAL 540, the rolled-up cover panels are less likely to interfere with the close or closed positioning of MAL 540 to the leg grab. In other embodiments, one or more of retainers 693' and 695' can include other releasable fastening mechanisms, such as buttons, snaps, buckles, zippers, etc., in place of hook-and-loop devices for selectively retaining cover panels 680' and 681' in a hole / opening covering state and / or a hole / opening exposed or uncovered state.

[0129] In other embodiments, as Figure 19FAs shown, garment 524' can include flap panels 680" and 681" in place of flap panels 680' and 681'. In contrast to flap panels 680' and 681' being formed by cutting to bend along a generally horizontal flexible hinge, flap panels 680" and 681" are formed by cutting to bend along a generally vertical flexible hinge between a hole / opening covered condition and a hole / opening exposed condition. In the illustrated example, flap panels 680" and 681" extend forward from their respective flexible hinges when in the hole / opening covered condition and extend rearward from the flexible hinges when in the hole / opening exposed condition. Holders 693" and 695" can be positioned along the front perimeter or front side of the opening (toward the front of the pants) to releasably hold flap panels 680" and 681" in the hole curtain open / closed condition. In the illustrated example, holders 693" and 695" can include hook-and-loop fastener devices configured to mate with hook-and-loop material located on the perimeter of flap panels 681" and 683". In other embodiments, holders 693" and 695" can include other releasable mechanisms, such as buttons, snaps, zippers, buckles, etc. As shown by arrow 697", when MAL 540 is to be attached, flap panels 680" and 681" can be detached from holders 693" and 695", can be rolled or wrapped back around the panel leg, where additional holders can be provided on garment 524 to releasably hold the rolled or wrapped back flap panels 680" and 681" in place. Such additional holders can be hook-and-loop fastener devices, buttons, snaps, zippers, buckles, etc. In other embodiments, flap panels 680" and 681" can alternatively extend rearward from the respective flexible hinges across the hole in the opening when in the hole curtain open covered condition.

[0130] In other embodiments, one or both of flap panels 680' and 681' (or flap panels 680" and 681") can be completely removed or detached from garment 524 when hole 550, 650 is used to connect MAL 540 to the interior leg grip or when opening 551, 651 is used to access the interface to adjust the size or grip diameter of the leg grip.

[0131] As Figure 18As shown, each calf portion 549 additionally includes an elongated slit 653 extending upward from the corresponding lower leg opening 546 to a position above the ankle grip portion 534. The elongated slit 653 allows a portion of the calf portion 549 to be separated and pulled open to expose and provide manual access through the side of the calf portion 549 to a retraction adjuster interface (e.g., a dial) of the associated ankle grip portion 534. In some embodiments, the elongated slit 653 may have a retainer 655 to releasably retain the opposite side of the slit 653 in a closed state. In some embodiments, the retainer 655 may be in the form of a zipper. In other embodiments, the retainer 655 may be in the form of one or more hook-and-loop fastener devices. In other embodiments, the retainer may be in the form of one or more snaps, buckles, buttons, or other mechanisms for selectively opening and closing the slit 653 for access to the ankle grip portion 534. In some embodiments, the retainer 655 may be omitted.

[0132] Pocket 602 is located on both sides of placket 604 along the front or side of garment 524, at or above thigh portion 548, and extends toward waist opening 544. In the illustrated example, pocket 602 has an opening facing rearward toward the trouser side or rear of garment 524. In other embodiments, pocket 602 may have an opening facing toward waist opening 544 in a Mormon-upward direction. In other embodiments, one or more of pockets 602 may be omitted or may have other configurations.

[0133] The placket 604 extends along the front of the garment 524 generally from the waist 544 toward the cross / cane point or crotch of the garment 524. The placket 604 allows separation on opposite sides of the front portion of 524. In some embodiments, the placket 604 may include a zipper for selectively opening and closing the separation. In other embodiments, the placket 604 may include a snap, button, or other fastening mechanism. In some embodiments, the placket 604 may be omitted.

[0134] Energy storage pocket 606 (e.g.) Figure 18 (As shown) includes bags, pouches, backpacks, or other containment structures configured to hold a power source 620 (e.g., a battery). Figure 18The energy storage pocket 606 is connected and secured to the rest of the garment 524 proximate the waist opening 544 at a mid-rear location of the pants of the garment 524. Because the garment 524 supports the power source 620 for the powered actuator of the MAL 540 at a location along the waist opening 544 of the garment, the mass of the battery or other power source 620 need not be lifted when the motion of the person's leg is augmented. The mass of the battery or other power source 620 can be more comfortably positioned along the back of the person wearing the garment 524 and external harness 520, while also being less conspicuous and reducing the pressure on the back of the person wearing the external harness 520. In other embodiments, the battery or other power source 620 for the powered actuator of the MAL 540-1 can be located at other locations.

[0135] As Figure 19D As further shown, in some embodiments, the energy storage pocket 606 can be releasably connected to the rest of the garment 524 along the waist opening 544 by one or more connectors 607. The connectors 607 allow the energy storage pocket 606 to be removed from the rest of the garment 524 when not needed. In some embodiments, the connectors 607 can comprise opposing portions of a hook-and-loop fastener arrangement, with one of the hook-and-loop being disposed on a rear portion of the garment 524 proximate the waist opening 544 and the other of the hook-and-loop being disposed on a front-facing outer surface of the pocket 606. In other embodiments, the connectors 607 can be in the form of a zipper, clasp, buckle, button, or other releasable connection mechanism. In other embodiments, the connectors 607 can be omitted, with the pocket 606 being fixedly secured to the rest of the garment 524 with stitching, adhesion, or welding.

[0136] As Figure 18As shown, the pocket 606 includes a lower opening 622 through which one or more electrical wires or cables 624 pass. The garment 524 can include one or more sleeves 626 or other internal structures to hold the electrical wires 624 along the interior of the garment 524, along the leg portions of the pants. In some embodiments, the one or more sleeves 626 can be elongated sleeves through which the wires or cables are routed. In other embodiments, the sleeves 626 can be a series of loops that are used to hold the wires or cables at predetermined locations within the garment 524. The garment 524 can include an opening 628 proximate to the location of the powered actuator of the MAL 540-1, where the electrical wires or cables 624 can exit the garment 524 to connect to a connection port or plug 631 that is electrically connected to the powered actuator. In the illustrated example, the port or plug 630 has a plug-receiving mouth or connection interface that faces upward in an upright direction along the longitudinal centerline of the leg of the garment 524, thereby allowing those external portions of the wire 624 to closely follow the rearward-facing peripheral side edge of the MAL 540-1, thereby reducing the likelihood of the wire becoming undesirably caught on external objects and making the external portions of the wire 624 less conspicuous. Although not shown, the pocket 606 includes additional openings 622 for additional electrical wires 624 that pass through associated sleeves 626 and exit the opening 628 to connect to a port or plug 631 of the MAL 540-2 that is located on the right leg of the garment 524.

[0137] The upper leg grip portion bracket 526 (sometimes referred to as a thigh cuff bracket) releasably connects the upper leg grip portion 528 to the garment 524 within the garment 524. The upper leg grip portion bracket 526 facilitates separation and removal of the upper leg grip portion 528 from the garment 524 to facilitate repair, replacement, or laundering of the garment 524 and repair, replacement, or laundering of the upper leg grip portion 528. As shown, Figure 21 As shown, which shows one leg of the garment 524 being rolled up and turned inside out, the upper leg grip portion bracket 526 can include a zipper 608. Wherein a first portion of the chain of the zipper 608 is disposed on the bracket 526 and cooperates with a second portion of the chain of the zipper 608 that is coupled to the upper leg grip portion 528 to releasably connect the garment 524 to the upper leg grip portion 528. In other embodiments, each upper leg grip portion bracket 526 can include one of the hooks of a hook-and-loop fastener device that cooperates with the other of the hooks of the hook-and-loop fastener device that is coupled to the associated leg grip portion 528 to releasably connect the garment 524 to the upper leg grip portion. In some embodiments, the garment 524 and the upper leg grip portion 528 have other cooperating connection mechanisms, such as snaps, hooks, buttons, etc., that facilitate releasable connection.

[0138] In the illustrated example, each upper leg grip holder 526 extends 360° around the centerline of the upper leg portion 548. In other embodiments, the upper leg grip holder 526 includes multiple individual connectors spaced apart from each other around the centerline of the upper leg portions 548-1 and 548-2. In some embodiments, the leg grip holder 526 is located within the upper leg portion 548. In other embodiments, the upper leg grip holder 526 can be located at a higher position between the upper extent of the upper leg portion 548 and the waist opening 544. In other embodiments, the upper leg grip holder 526 does not releasably connect the upper leg grip 528 to the garment 524, but rather forms a more permanent fixed connection between the upper leg grip 528 and the garment 524.

[0139] In some embodiments, the upper leg grip holder 526 also functions as a tether, including one or more threads, straps, bands, or the like located within the upper leg portion 548, with each holder 526 having a first end secured to the garment 524 and a second end connected to the upper leg grip 528. Providing as or including a tether, the upper leg grip holder 526 flexibly or movably suspends the upper leg grip 528 from the garment 524 within the respective upper leg portion 548. In other words, each upper leg grip holder 526 allows the associated upper leg grip 528 to move relatively to the associated upper leg portion 548. The upper leg grip holder 526 facilitates the inward spacing of the upper leg grip 528 from the inner side of the upper leg portion 548. Thus, an airflow passageway is provided between the outside of the upper leg grip 528 and the inside of the upper leg portion 548. In addition, the wearer of the garment 524 is less constricted laterally. In embodiments where the upper leg grip 528 is adjustable to provide various user-selectable constriction sizes or degrees, the upper leg grip holder 528 allows the upper leg grip 528 to constrict with less or no inward movement or constriction of the upper leg portion 548-1, thereby preserving the appearance of the upper leg portion 548.

[0140] In some embodiments, the upper leg grip portion supports 526 each have a length (extending from a connection point with the garment 524 to a connection point with the upper leg grip portion 528) of at least 0.5 inches, and in some embodiments, at least 1 inch. In other embodiments, the length of the upper leg grip portion supports 526 to the connection point with the upper leg grip portion 528 can be at least 2 inches. As will be described hereinafter, in some embodiments, the upper leg grip portion 528 can likewise be provided with a strap, strap, cord, or the like, that serves as an additional tether, with a first end portion of the additional tether connected to the remainder of the lower leg grip portion 528 and a second end portion releasably or fixedly connected to the upper leg grip portion support 526. In such embodiments, the additional tether of the upper leg grip portion 528 can also have a length. In such embodiments, the combined length of the length of the upper leg grip portion support 526 and the length of the additional tether provided by the upper leg grip portion 528 is at least 1 inch, and in some embodiments, at least 2 inches, to provide adjustability of the upper leg grip portion 528 with little or no impact on the thigh portion 548.

[0141] Like the thigh portion 548, the lower leg portion 549 is associated with a lower leg grip portion support 527 alone. The lower leg grip portion support 527 (sometimes referred to as a lower leg cuff support) releasably connects the lower leg grip portion 527 to the garment 524 within the garment 524. The lower leg grip portion support 527 facilitates separation and removal of the lower leg grip portion 532 from the garment 524 to facilitate repair, replacement, or washing of the garment 524 and the lower leg grip portion 532. Similar to the upper leg grip portion support 526, as shown, the lower leg grip portion support 527 can include a zipper 608, with a first portion of the chain of the zipper 608 disposed on the support 527 and cooperating with a second portion of the chain of the zipper 608 connected to the lower leg grip portion 532 to releasably connect the garment 524 to the lower leg grip portion 532. In other embodiments, each lower leg grip portion support 527 can include one of the hooks of a hook-and-loop fastener device that cooperates with the other of the hooks of the hook-and-loop fastener device connected to the associated leg grip portion 532 to releasably connect the garment 524 to the lower leg grip portion 532. In some embodiments, the garment 524 and the lower leg grip portion 532 have other cooperating connection mechanisms, such as snaps, hooks, buttons, or the like, that facilitate the releasable connection. Figure 21

[0142] ​In the illustrated embodiment, each lower leg grip support 527 extends 360 degrees around the centerline of the lower leg portion 549. In other embodiments, the lower leg grip support 527 includes a plurality of individual connectors spaced apart from each other around the centerline of the lower leg portion 549. In some embodiments, the lower leg grip support 527 does not releasably connect the lower leg grip 532 to the garment 524, but rather forms a more permanent fixed connection between the lower leg grip 532 and the garment 524.

[0143] In some embodiments, the lower leg grip support 527 also functions as a tether, including one or more cords, straps, bands, etc. within the lower leg portion 549, with each of the supports 527 having a first end portion secured to the garment 524 and a second end portion connected to the lower leg grip 532. By including or functioning as a tether, the lower leg grip support 527 flexibly or movably suspends the lower leg grip 532 from the garment 524 within the respective lower leg portion 549. In other words, each lower leg grip support 527 allows relative movement of the associated lower leg grip 532 with respect to the associated lower leg portion 549. The lower leg grip support 527 facilitates the inward lateral spacing of the lower leg grip 532 from the interior of the lower leg portion 549. As a result, an airflow passageway is provided between the exterior of the lower leg grip 532 and the interior of the lower leg portion 549. In addition, the wearer of the garment 524 is less constricted laterally. In embodiments in which the lower leg grip 532 is adjustable to provide various user-selectable sizes or degrees of constriction, the lower leg grip support 527 allows the lower leg grip 532 to constrict while the lower leg portion 549 moves or constricts less or not at all, while maintaining a smooth, wrinkle-free or unbound appearance of the lower leg portion 549.

[0144] In some embodiments, the lower leg grip support 527 each has a length (extending from the point of connection with the garment 524 to the point of connection with the lower leg grip 532) of at least 0.5 inches, and in some embodiments, at least 1 inch. As described below, in some embodiments, the lower leg grip 532 can likewise be provided with a strap, band, cord, etc. that functions as an additional tether, with a first end portion of the additional tether connected to the remainder of the lower leg grip 532 and a second end portion releasably or fixedly connected to the lower leg grip support 527. In such embodiments, the additional tether of the lower leg grip 532 can also have a length. In such embodiments, the combined length of the length of the lower leg grip support 527 and the length of the additional tether provided by the lower leg grip 532 is at least 1 inch, and in some embodiments, at least 2 inches, to provide adjustability of the lower leg grip 532 with little or no impact on the lower leg portion 549.

[0145] The upper leg grip 528-1, lower leg grip 532-1, and ankle grip 534-1 are each shown in Figure 22 FIG. 6 without the overlapping portions of the garment 524 and without being connected to the MAL 540-1. It should be understood that the upper leg grip 528-2, lower leg grip 532-2, and ankle grip 534-2 each have similar construction to that shown and described for the upper leg grip 528-1, lower leg grip 532-1, and ankle grip 534-1, respectively. As shown in Figure 17 and 18 The upper leg grip 528 and lower leg grip 532 are each configured to connect a person's thigh and lower leg, respectively, to the MAL 540. The upper leg grip 528, lower leg grip 532, and ankle grip 534 each have sufficient rigidity (in the vertical direction) to bear loads. Likewise, the connections between the upper leg grip 528, lower leg grip 532, and the MAL 540 also have sufficient strength and rigidity to bear loads. The upper leg grip 528 is in the form of a thigh cuff that is configured to completely surround a person's thigh when the external harness is worn. The lower leg grip 532 is similar to the upper leg grip 528, only in that the lower leg grip 532 can be in the form of a lower leg cuff that is configured to completely surround a person's lower leg or lower leg portion when the external harness 520 is worn. In some embodiments, the upper leg grip 528 and / or lower leg grip 532 can alternatively be in the form of an interrupted or broken loop having a C or U shape, thereby allowing a person to insert a portion of his or her leg into the grip in a transverse or lateral manner that is perpendicular to the centerline of the broken loop.

[0146] Figures 21-31 An example of one of the upper leg grips 528 is shown in more detail. The example upper leg grip 528-1 includes an exoskeleton 630, a contraction adjuster 632, an inner liner 634, a tether 574, and an upper leg link connection interface 580. The exoskeleton, sometimes referred to as a "hard cuff," serves as the backbone or spine of the leg grip 528, as the structural support for the leg grip 528, while being flexible enough to facilitate wrapping the leg grip around a person's leg. The exoskeleton 630 includes a rigid yet flexible shell or support for supporting the contraction adjuster 632 and the upper leg link connection interface 580.

[0147] The contraction adjuster 632 facilitates selectively adjusting the inner diameter of the generally circular or elliptical cuff formed by the exoskeleton 630 and the inner liner 634. The contraction adjuster 632 adjusts the inner diameter by adjusting the length of the inner liner 634. In the example shown, the contraction adjuster 632 is similar to a Figure 7 and 8The illustrated constriction adjuster, in which the degree of overlap is adjusted to adjust the inner diameter. The constriction adjuster 632 includes a connector 636, a flexible strap 638, a pinion 640, and a dial 642.

[0148] The connector 636 includes a mechanism coupled to the exoskeleton 630 and is configured to releasably connect to an end portion of the strap 638. In the illustrated example, the strap 638 includes an opening or hole 644 sized and shaped to receive the connector 636, which has a neck supporting a larger head, where the head can pass through the hole 644, thereby capturing the end of the strap 638 around the neck. In other embodiments, the end of the strap 638 and the connector 636 can have other configurations to facilitate releasable connection of the end of the strap 638 to the exoskeleton 630. For example, in some embodiments, a quick release buckle can be used.

[0149] The flexible strap 638 includes an elongate strap that is formed of a material that is flexible to wrap around a wearer's thigh. In some embodiments, the flexible strap 638 can be formed of a polymeric material. In addition to the hole 644, the flexible strap 638 includes a slot 646 on one side bounded by a roll or rack of teeth 648. As Figure 26 illustrated, the slot 646 receives the pinion 640, with the teeth 648 engaged by the pinion 640.

[0150] The pinion 640 includes a generally circular disk having a perimeter edge provided with teeth that intermesh with the teeth 648 along the slot 646. The dial 642 serves as a manual interface to rotate the pinion 640. In some embodiments, the dial 642 is directly connected to the pinion 640. In other embodiments, the dial 642 can be connected to the pinion 640 through an intermediate gear train. The dial 642 is configured to protrude through or otherwise be accessible through the opening 551 of the garment 524. Manual rotation of the dial 642 causes the pinion 640 to rotate to translate the strap 638, thereby adjusting the length of the strap 638 that extends beyond the exoskeleton 630, and thus the inner diameter of the upper leg grip 528-1.

[0151] As Figure 27A and 27B Further illustrated, the exoskeleton 630 includes a connection panel 656 and a cover panel 658. The connection panel 656 supports the pinion 640, the dial 642, and any gear train therebetween. The connection panel 656 also supports the upper leg link connection interface 580. The connection panel 656 cooperates with the cover panel 658 to receive a portion of the strap 638 therebetween. As Figure 26 、 27AAs shown in 27B, panels 656 and 658 mate to form an opening 654 through which the end of strip 638 can pass to position hole 644 above connector 636.

[0152] Furthermore, panels 656 and 658 further cooperate to form an internal guide 659 in the form of an internal channel for guiding the strip 638 to translate between panels 656 and 658 in response to rotation of the turntable 642 and the pinion 640. Figure 26 As shown, the inward-facing surface of panel 658 may have a connector 660 for releasable connection to the inner liner 634. In some embodiments, connector 660 may include one or more patches of a hook-and-loop fastener assembly, wherein a first set of patches providing a first portion of the hook-and-loop fastener assembly is releasable to a second patch providing a second portion of the hook-and-loop fastener assembly, the second patch being secured to the inner liner 634. In other embodiments, other connectors may be provided on the cover panel 658 for releasable connection to the inner liner 634 or may otherwise be provided by the frame 630.

[0153] Figures 28-31 The diagram shows an inner liner 634 and a tether 574. The inner liner 634 provides a cushioning layer between the frame 630 and the person's thigh. The inner liner 634 also wraps around the person's thigh to facilitate gripping and securing the thigh to the frame 630 and the attached MAL 540. The inner liner 634 includes a compressible core pad 678, an outer resilient shell 682, and a strip guide 684.

[0154] like Figure 31 As shown, the compressible core pad 678 comprises a single integral foam structure including a skeleton pad 686 and an accordion-shaped portion 688. The pad 686 is formed of a compressible material and configured to cover the skeleton 630, extending between the skeleton 630 and the person's thigh. The pad 686 is compressible against the thigh of a person wearing a leg grip. The pad 686 is shaped and sized to cover or extend outward beyond most, if not all, of the perimeter of the skeleton 630. Figure 31 As shown, in some embodiments, the pad 686 may include airflow channels or grooves 689 on those surfaces facing the person wearing the external garment 520. The grooves 689 may be molded into the foam material forming the pad 686 or may be cut into the material forming the pad 686. These grooves 689 facilitate airflow and cooling. In other embodiments, these grooves 689 may have other shapes and configurations or may be omitted. In some embodiments, the pad 686 and the exoskeleton 630 may additionally include additional openings through them to facilitate breathability. Figure 31As shown, the pad 686 can include openings 694 that extend through the pad 686. The size, shape, number, and density of such openings can have other and shown configurations and / or can vary along the length of the pad 686.

[0155] An accordion section 688 extends from the pad 686, where the total length of the pad 686 and the accordion section 688 is sufficient to wrap around a person’s thigh wearing the external harness 520. In one embodiment, the total length is at least 8 inches. The accordion section 688 is formed of a plurality of accordion sections that facilitate linear changes in the length of the accordion section 688 to accommodate different degrees of constriction around a person’s thigh resulting from repositioning the strap 638 in response to rotation of the dial 642.

[0156] An outer elastic shell 682 extends at least around the accordion section 688, and in the example shown, extends around or encloses both the pad 686 and the accordion section 688. The outer elastic shell 682 can be formed of an elastic material, such as an elastic fabric. The elastic material accommodates stretching of the accordion section 688. In some embodiments, the shell 682 can be omitted.

[0157] As Figure 29 shown, one face of the pad 686 includes a portion of the connector 660 on those portions of the outer elastic shell 682 that cover the pad 686. In particular, this portion of the connector 660 on the pad 686 can be one of the hooks of a hook-and-loop fastener arrangement, where the face of the panel 658 of the skeleton 630 can include the other of the hooks of the hook-and-loop fastener arrangement. As a result, the pad 634 can be secured to the skeleton 630, which in turn is connected to the strap 638 and the MAL 540 by the interface 580.

[0158] Figure 30 is a cross-sectional view showing the cushion 634 with the strap 638 and the tether 574. As Figure 30 shown, the strap guide 684 includes an elongated outer sleeve or panel that forms an interior 671 that slidably receives the strap 638. Although the strap guide 684 extends along most, if not all, of the strap 638 from one end of the skeleton 630 to the other end of the skeleton 630, in other embodiments, the strap guide 684 can include a series of spaced-apart looped strap sections.

[0159] The drawstring 574 is similar to the bracket 526, except that the drawstring 574 extends from the top of the padding 634 and engages with the upper leg grip bracket 526 to releasably attach the upper leg grip 528 to the garment 524 within the garment 524. The drawstring 574 facilitates the detachment and removal of the upper leg grip 528 from the garment 524, enabling repair, replacement, or washing of both the garment 524 and the upper leg grip 528. Figure 21 As shown, one leg of garment 524 is rolled up and turned inside out. A drawstring 574 is releasably secured to the thigh grip bracket 526 and garment 524 via a zipper 608. A first portion of the chain of zipper 608 is disposed on the bracket 526 and engages with a second portion of the chain of zipper 608 connected to the drawstring 574 to releasably connect garment 524 to upper leg grip 528. In other embodiments, each upper leg grip bracket 526 may include one of the hooks of a hook-and-loop fastener device, which engages with another hook of the hook-and-loop fastener device connected to the associated drawstring 574 to releasably connect garment 524 to upper leg grip 526. In some embodiments, the drawstring 574 may be releasably connected to the upper leg grip 528 via other engaging connection mechanisms that facilitate releasable connection, such as snaps, hooks, buttons, etc.

[0160] In the illustrated example, each drawstring 574 extends 360 degrees around the centerline of the thigh portion 548. In other embodiments, the drawstring 574 includes a plurality of individual connectors spaced apart from each other around the centerlines of the thigh portions 548-1 and 548-2. In some embodiments, the drawstring 574 does not releasably connect the upper leg grip 528 to the garment 524, but rather forms a more permanent connection between the upper leg grip 528 and the garment 524.

[0161] The tether 574 flexibly or movably suspends the upper leg grip 528 from the garment 524 within the respective thigh portion 548. In other words, each tether 574 allows for relative movement of the associated upper leg grip 528 with respect to the associated thigh portion 548. The tether 574 facilitates spacing of the upper leg grip 528 inward from the inner side of the thigh portion 548. As a result, an airflow passageway is provided between the outside of the upper leg grip 528 and the inside of the thigh portion 548. In addition, the wearer of the garment 524 is less constricted laterally. In embodiments in which the upper leg grip 528 is adjustable to provide various user-selectable sizes or degrees of constriction, the upper leg grip support 528 allows the upper leg grip 520 to constrict with little or no inward movement or constriction of the thigh portion 548-1, thereby preserving the appearance of the thigh portion 548. In some embodiments, the tether 574 has a length of at least 1 inch (as measured in a direction parallel to the logical centerline of the panel leg), and in some embodiments, at least 2 inches.

[0162] Figures 32-43 A lower leg grip unit 700-1 is shown, which provides a lower leg grip 532-1 and an ankle grip 534-1. Figure 32 A lower leg grip unit 700-1 is shown positioned on the left lower leg of a person wearing the outer suit 520. It should be understood that the outer suit 520 can likewise include a lower leg grip unit 700-2 (shown as Figure 22 as unit 700-1, except that unit 700-2 is configured to be positioned on the right lower leg of a person wearing the outer suit 520.

[0163] Each of the units 700-1 and 700-2 includes an exoskeleton 730, a lower leg constriction adjuster 732, a lower leg inner pad 734, a lower leg tether 774, and a lower leg linkage connection interface 780, an ankle constriction adjuster 752, and an ankle inner pad 753. The exoskeleton 730, sometimes referred to as a "hard sleeve," serves as a backbone or spine for the lower leg grip 532 and the ankle grip 534, thereby providing structural support for the lower leg grip 534 and the ankle grip portion 534, while being sufficiently flexible to facilitate wrapping the leg grip around a person's leg. The exoskeleton 730 includes a lower leg portion 760 and a lower ankle portion 762 that are interconnected by a middle column 764. In the example shown, the lower leg portion 760 is suspended from the garment 524 within a lower portion of the pant layer garment 524 by a tether 774. The tether 774 includes the connector 608 described above, which secures the tether 774 to the lower leg grip support 527 (as described above). The column 764 suspends the lower ankle portion 762 from the lower leg portion 760.

[0164] In the illustrated example, the lower leg portion 760, the lower ankle portion 762, and the column 764 are formed integrally as part of a single unitary body from a material such as a fiber composite material, e.g., a carbon fiber composite material. In other embodiments, the lower leg portion 760, the lower ankle portion 762, and the column 764 can be formed from other materials. In other embodiments, the column 764 can be releasably connected to one or both of the lower leg portion 760 and the lower ankle portion 762.

[0165] Figures 33-35B The unit 700-1 is shown without the lower leg liner 734 and the lower leg tether 774. As shown in this figure, the lower leg portion 760 is similar in many respects to the upper leg grip 528 of the exoskeleton 630. The lower leg portion 760 includes a rigid but flexible outer shell or support for supporting the contraction adjuster 732 and the lower leg link connection interface 780.

[0166] The contraction adjuster 732 facilitates selectively adjusting an inner diameter of a generally circular or elliptical cuff formed by the exoskeleton 730 and the inner liner 734. The contraction adjuster 632 adjusts the inner diameter by adjusting a length of the inner liner 734. The contraction adjuster 732 includes a connector 736, a flexible strap 738, a pinion gear 740, and a dial 742.

[0167] The connector 736 includes a mechanism that is coupled to the exoskeleton 730 and is configured to releasably connect to an end of the strap 738. In the illustrated example, the strap 738 includes an opening or hole 744 that is sized and shaped to receive the connector 736, which has a neck supporting a larger head, with the head being passable through the hole 744 to thereby capture the end of the strap 738 around the neck. In other embodiments, the end of the strap 738 and the connector 736 can have other configurations to facilitate releasable connection of the end of the strap 738 to the exoskeleton 730. For example, in some embodiments, a quick release buckle can be used.

[0168] The flexible strap 738 includes an elongate strap that is formed of a material that is flexible to wrap around a lower leg of a person wearing the external harness 520. In some embodiments, the flexible strap 738 can be formed of a polymeric material. In addition to the hole 744, the flexible strap 638 includes a slot 746 on one side that is bounded by a roll or rack of teeth 748. As shown, the slot 746 receives the pinion gear 740, with the teeth 748 being engaged by the pinion gear 740. Figure 26

[0169] ​Pinion 740 includes a generally circular disk having a peripheral edge provided with teeth and intermeshing with teeth 748 along slot 746. Dials 742 serve as a manual interface for rotating pinion 740. In some embodiments, dials 742 are directly connected to pinion 740. In other embodiments, dials 742 can be connected to pinion 740 through an intermediate gear train. Dials 742 are configured to protrude through or otherwise be accessible through opening 651 of garment 524. Manual rotation of dials 742 causes pinion 740 to rotate to translate band 738, thereby adjusting the range of lengths over which band 738 extends beyond lower leg portion 760 of exoskeleton 730, and thus the inner diameter of lower leg grip 532.

[0170] As Figure 35A and 35B Further, exoskeleton 730 includes a connection panel 756 and a cover panel 758. Connection panel 656 supports pinion 740, dials 742, and any gear train therebetween. Connection panel 756 also supports lower leg link connection interface 780, which cooperates with cover panel 758 to receive portions of band 738 therebetween. As Figure 35A and 35B Panels 756 and 758 cooperate to form an opening 757 through which ends of the band can pass to position apertures 744 over connection 736.

[0171] Further, panels 756 and 758 further cooperate to form an internal guide 759 in the form of an internal channel for guiding translation of band 738 between panels 756 and 758 in response to rotation of dials 742 and pinion 740. As Figure 35A An inner-facing surface of panel 758 can have a connection 763 for releasably connecting to inner liner 734. In some embodiments, connection 763 can include one or more hook-and-loop fastener patch, where a first set of patches providing a first portion of a hook-and-loop fastener device releasably connect to a second patch providing a second portion of the hook-and-loop fastener device, which is secured to inner liner 734. In other embodiments, other connections for releasably connecting to inner liner 734 can be provided on panel 758 or otherwise by exoskeleton 730.

[0172] Lower ankle portion 762 is similar in many respects to exoskeleton 630 of upper leg grip 528. Lower leg portion 760 includes an incompressible but flexible housing or support for supporting contraction adjuster 832.

[0173] The constrictor 752 facilitates selective adjustment of the inner diameter of the generally circular or elliptical cuff formed by the exoskeleton 830 and the inner liner 753. The constrictor 752 adjusts the inner diameter by adjusting the length of the inner liner 753. The constrictor 752 includes a connector 836 (shown in Figure 40 and 41 ), a flexible strap 838, a pinion 840, and a dial 842.

[0174] The connector 836 includes a mechanism coupled to the exoskeleton 730 and configured to releasably connect to an end of the strap 838. In the illustrated example, the strap 838 includes hooks 844 sized and shaped to engage the connector 836. In the illustrated example, the connector 836 includes a commercially available connector. In other embodiments, the end of the strap 838 and the connector 836 can have other configurations to facilitate releasable connection of the end of the strap 838 to the lower ankle portion 76 of the unit 700-1 providing the ankle grip 534-1. For example, in some embodiments, a quick release buckle can be used.

[0175] The flexible strap 838 includes an elongated strap formed of a material that is flexible to wrap around the ankle of a person wearing the external harness 520. In some embodiments, the flexible strap 838 can be formed of a polymeric material. In addition to the hooks 844, the flexible strap 838 includes slots 846 defined on one side by a row or rack of teeth 848. As Figure 35B shown, the slots 846 receive the pinion 840 with the teeth 848 engaged by the pinion 840.

[0176] The pinion 840 includes a generally circular disk having a peripheral edge provided with teeth that intermesh with the teeth 848 along the slots 846. The dial 842 serves as a manual interface for rotating the pinion 840. In some embodiments, the dial 842 is directly connected to the pinion 840. In other embodiments, the dial 842 can be connected to the pinion 840 through an intermediate gear train. The dial 842 is configured to protrude through the slot 653 or otherwise be accessible through a separation or partition of the slot 653. Manual rotation of the dial 842 causes the pinion 840 to rotate to translate the strap 838, thereby adjusting the range of lengths over which the strap 838 extends beyond the ankle portion 762 of the exoskeleton 730, and thus the inner diameter of the ankle grip 534.

[0177] As Figure 35A and 35B further shown, the ankle portion 762 of the exoskeleton 730 includes a connection panel 856 and a cover panel 858. The connection panel 856 supports the pinion 840, the dial 842, and any gear train therebetween. The connection panel 856 cooperates with the cover panel 858 to receive portions of the strap 738 therebetween. AsFigure 35A and 35B As shown, panels 856 and 858 cooperate to form an internal guide 859 in the form of an internal channel for guiding the translation of the strap 838 between the panels 856 and 858 in response to rotation of the turntable 842 and pinion 840. As shown, Figure 35A As shown, the inner-facing surface of the panel 858 can have a connector 863 for releasably connecting to the inner liner 753. In some embodiments, the connector 863 can comprise one or more hook-and-loop fastener device patches, where a first set of patches providing a first portion of a hook-and-loop fastener device are releasably connected to a second patch providing a second portion of the hook-and-loop fastener device that is secured to the inner liner 753. In other embodiments, other connectors for releasably connecting to the inner liner 753 can be provided on the panel 858 or otherwise provided by the skeleton 730.

[0178] Figures 37-39 The inner liner 734 and tether 774 are shown. Figure 37 The inner liner 734 secured to the lower leg portion 760 of the skeleton 730 is shown and also the strap 738 extending from the liner 734 and the tether 774 extending from the liner 734 are shown. Figure 38 The liner 734 and tether 774 are shown independent of the skeleton 730 and strap 738. Figure 39 The liner 734 and tether 774 are shown in a flattened state.

[0179] The liner 734 provides a cushioning layer between the lower leg portion 760 of the skeleton 730 and the person’s lower leg. The inner liner 734 also wraps around the person’s lower leg to facilitate gripping the person’s lower leg and securing the person’s lower leg to the skeleton 730 and connected MAL 540. The inner liner 734 is similar to the inner liner 634 described above. The inner liner 734 includes a compressible core pad 781, an outer elastic shell 782, and a strap guide 784.

[0180] As shown, the compressible core pad 781 includes a single unitary foam construction that includes a skeleton pad 786 and an accordion 788. The pad 786 is configured to cover the skeleton 730, extending between the skeleton 730 and the person’s lower leg. The pad 786 is shaped and sized to cover a majority, if not all, of the perimeter of the skeleton 730, or to extend outward beyond that majority. Figure 39

[0181] ​An accordion-shaped portion 788 extends from a pad 786, wherein the total length of the pad 786 and the accordion-shaped portion 788 is sufficient to wrap around the lower leg of a person wearing the external garment 520. In one embodiment, the total length is at least 10 inches, and the accordion-shaped portion 788 is formed of a plurality of accordion-shaped segments (a series of extendable and compressible diamond-shaped segments) to facilitate linear variation in the length of the accordion-shaped portion 788 to accommodate different degrees of contraction around the lower leg caused by the repositioning of the strip 738 in response to rotation of the turntable 742.

[0182] The outer resilient housing 782 extends at least around the accordion-shaped portion 788, and in the example shown, extends around or surrounds both the padding 786 and the accordion-shaped portion 788. The outer resilient housing 782 may be formed of an elastic material, such as an elastic fabric. The elastic material adapts to the stretching of the accordion-shaped portion 788. In some embodiments, the housing 782 may be omitted.

[0183] like Figure 39 As shown, one side of the pad 786 includes a portion of the connector 763 on those portions of the outer resilient housing 782 covering the pad 786. Specifically, the portion 760 on the pad 786 may be one of the hooks in a hook-and-loop fastener assembly, wherein the face of the panel 758 of the lower leg portion 760 may include another hook in the hook-and-loop fastener assembly. As a result, the pad 634 can be secured to the frame 730, which in turn is connected to the strip 738 and MAL540 via the interface 780. In other embodiments, the portion 760 may include a series of snaps or other releasable fastening mechanisms.

[0184] Figures 32-36 Figures 40-43 show the ankle pad 753. Figure 40 An ankle pad 753 is shown attached to the ankle portion 762 of the skeleton 730 to form an ankle grip portion 534-1. Figure 41 The generally C-shaped pad 753 is shown in the closed state, secured by hooks 844 of connector 836 and strip 838. Figure 42 An ankle grip portion 534-1 in a first state with a first inner diameter is shown. Figure 43 An ankle grip 534-1 with a second inner diameter smaller than the first inner diameter is shown in a second state. Figure 43 The smaller inner diameter shown is achieved by rotating dial 842 to further pull strip 838 into the space between overlapping panels 856 and 858.

[0185] Ankle pad 753 is similar to lower leg liner 734. Pad 753 provides a cushioning layer between the ankle portion 762 of the frame 730 and the human ankle. Liner 753 also wraps around the human ankle to facilitate gripping and securing the ankle to the frame 730 and the attached MAL 540. Liner 753 is similar to liner 634 described above. Liner 753 includes a compressible core pad 980 and an outer resilient shell 982.

[0186] like Figure 42 As shown, the compressible core pad 980 comprises a single integral foam structure including a skeleton pad 986 and an accordion-shaped portion 988. The pad 986 is configured to overlap with the ankle portion 762 of the skeleton 730, thereby extending between the ankle portion 762 and the person's ankle. The pad 986 is shaped and sized to cover most, if not all, of the periphery of the ankle portion 962, or extend outward beyond that majority.

[0187] An accordion-shaped portion 988 extends from a pad 986, wherein the total length of the pad 986 and the accordion-shaped portion 988 is sufficient to wrap around the ankle of a person wearing the outer garment 520. In one embodiment, this total length is at least 6 inches. The accordion-shaped portion 988 is formed of a plurality of accordion-shaped segments (a series of extendable and compressible diamond-shaped segments), thereby facilitating a linear variation in the length of the accordion-shaped portion 988 to accommodate different degrees of contraction around the person's lower leg caused by the repositioning of the strip 938 in response to rotation of the dial 842.

[0188] The outer resilient housing 982 extends at least around the accordion-shaped portion 988, and in the example shown, extends around or surrounds both the pad 986 and the accordion-shaped portion 988. The outer resilient housing 982 may be formed of an elastic material, such as an elastic fabric. The elastic material adapts to the stretching of the accordion-shaped portion 988. In some embodiments, the housing 982 may be omitted.

[0189] In the illustrated embodiment, each upper leg gripper 528 has an adjustable inner circumference (inner surface in contact with the leg) of at least 45 cm and up to 64 cm, with a range of 19 cm. In some embodiments, the upper leg gripper 528, for a smaller individual size, may have an adjustable inner circumference of at least 43 cm and up to 62 cm, also providing an adjustment range of 19 cm. In the illustrated example, the lower leg gripper 532 has an adjustable inner circumference of at least 29 cm and up to 45 cm, providing an adjustment range of 16 cm. In the illustrated example, the ankle gripper 534 has an adjustable inner circumference of at least 20 cm and up to 27 cm, thus providing an adjustment range of 7 cm. In other embodiments, the degree of adjustment range, and the upper and lower inner values ​​of the inner circumference range, may have other values.

[0190] likeFigure 17 、 18 and 23, the MAL 540 extends along the outside of the garment and is releasably connected to the upper leg grasp portions 528 and 532 through holes in the garment 524. The MAL 540 is positioned along the lateral side of the person's leg, extending from above the knee to below. The example MAL 540 each includes a powered actuator 1052, an upper link 1054 (sometimes referred to as a thigh link) and a lower link 1056 (sometimes referred to as a shank link). The powered actuator 1052 is configured to be positioned generally proximate to the person's knee and is configured to pivot the upper link 1040 and the lower link 1056 about an axis 1058 proximate to the knee. In some embodiments, the powered actuator 1052 can be in the form of an electric motor and gear train. In some embodiments, the powered actuator 1052 can be in the form of a pump that outputs pressurized fluid (liquid or gas) to hydraulically / pneumatically pivot the upper and lower links.

[0191] As noted above, the skeleton 630 includes a connection interface 580 for interconnecting the upper leg grasp portion 528 with the thigh link 1054. As shown in Figure 27B

[0192] Figures 45-47 An upper leg link connection interface 1102 is shown and how it interacts with the overhanging edge 1100 of the connection interface 580 to releasably secure the upper leg link 1054 to the upper leg grasp portion 528 through the garment 524. The upper leg link connection interface 1102 includes opposingly facing hooks 1110-1, 1110-2 (collectively, hooks 1110). The hooks 1110 are elastically biased in opposite directions away from each other. In the example shown, the hooks 1110 are elastically biased by a middle compression spring 1112 (as shown in Figure 46 and 47 each of the hooks 1110 is operably coupled to a corresponding button 1114.

[0193] As shown in Figure 47 movement of the upper leg link 1054 in the direction shown by arrow 1117 causes the hooks 1110 to be driven or moved toward each other, thereby compressing the compression spring 1112 therebetween. When the hooks 1110 move past the edge 1100, the compression spring 1112 moves the hooks 1110 outwardly away from each other, thereby capturing the edge 1100 within the notches of the hooks 1110. This causes the upper link 1054 to "snap out" into place, thereby holding the upper leg link 1054 in place, connected to the skeleton 630 of the upper leg grasp portion 528.

[0194] ​When the user wishes to disconnect the upper link 1054 from the upper leg grip 528, the user can manually squeeze the buttons 1114 against each other to compress the compression spring 1112, withdraw the edge 1100 from engagement with the hook 1110, and allow the upper link 1054 to be lifted out of the window formed by the frame 1098 in the direction opposite the arrow 1117. Once the hook 1110 has been withdrawn from the window formed by the frame 1098, the buttons 1114 can be released, with the spring 1112 again returning the hook to the original default state and ready for subsequent reinsertion through the window formed by the frame 1098 when the upper link 1054 is to be reconnected to the upper leg grip 528.

[0195] Figures 48-54 A connection interface 780 supported by the lower leg portion of the skeleton 730 is shown. As Figure 48 shown, the connection interface 780 includes components attached to the skeleton 730 by one or more fasteners. Thus, the connection interface 780 can be more easily formed from a material different from the material forming the skeleton 730, thereby facilitating the use of one or more materials that provide elastic bending or flexing for portions of the interface 1382 for connection with the connection interface 1150 and further facilitating the use of different materials that can be more suitable for the load functions of the connection interface 780. In other embodiments, the interface 780 can be permanently fastened to the skeleton 730 or integrally formed as part of the skeleton.

[0196] The connection interface 780 is configured to releasably connect to a lower leg link connection interface 1150 of the lower link 1056 such that mechanical forces can be transferred from the lower leg link 1056 to the lower leg grip unit 700. In the illustrated example, the connection interface 780 and the connection interface 1150 are configured to releasably connect to each other in response to a downward sliding motion of the lower leg link 1050 relative to the lower leg grip unit 700 (motion parallel to the centerline of the leg of the person wearing the garment 524). As Figures 52-54 shown, the connection interface 780 includes an upwardly sloped catch 1151 and an elastically deformable or bendable catch or hook 1152. The connection interface 1150 is connected to the lower link 1056. In the illustrated example, the connection interface 1150 includes an assembly that is mounted or otherwise connected to an outer plate 1159 of the lower link 1056. Figure 49 A first surface of the connection interface 1150 connected to the plate 1159 is shown. Figure 54 The connection interface 1150 is shown separated from the plate 1159 to reveal features on a second surface of the connection interface 1150 that would otherwise be hidden by the plate 1159. As Figure 49 shown, the connection interface 1150 includes a base plate 1155 having an elongated channel 1156 that extends upwardly from a lower end of the base plate 1155 and terminates in a undercut 1160 (asFigure 53 The channel 1156 includes a floor 1162 that surrounds a cavity 1166 having a lower edge 1168. The upper edge 1158 of the channel 1156 is shown in FIG. 116.

[0197] As Figure 50 As further shown, the connection interface 1150 additionally includes a connection release 1170. The connection release 1170 includes a rod 1172 that is slidably captured in an internal channel 1173 formed in the plate 1155. The rod 1172 includes side rails 1174 on opposite sides that slidably receive pins 1176. The pins 1176 are fixed to the plate 1155 on opposite sides of the rod 1172 and protrude into the rails 1174 to further assist in capturing and retaining the rod 1170 within the channel 1173. Thus, the connection interface 1150 can be self-assembled and held together as a unit or component independent of the plate 1159. In other embodiments, the rails 1173 and pins 1176 can be omitted, with the plate 1159 capturing and assisting in retaining the rod 1172 within the channel 1173. In other embodiments, the plate 1155 and rod 1172 can have a mating tongue and groove relationship to slidably retain the rod 1172 for movement within the channel 1173 or can include other structures to slidably capture the rod 1172 along the plate 1155.

[0198] As Figure 49 and 53 As shown, the rod 1170 includes a release ramp 1177 that is configured to press against the engagement hook 1152 when the rod 1172 is slid in an upward direction as shown by arrow 1175. As Figure 50 As shown, the rod 1172 has a lower end that forms a handle 1178 and an upper edge 1180 that abuts against a compression spring 1182. The compression spring 1182 is partially housed within a rearward internal tube, detent or channel 1184 formed in the inner side of the plate 1155. The spring 1182 resiliently biases the rod 1172 in a downward direction.

[0199] Figures 52-54 The connection and disconnection of the connection interfaces 780 and 1150 is shown. As Figure 52 To connect the lower link 1056 to the lower leg grip 532 and the connection interface 780, the lower leg link 1056 Figure 49 is lowered, as shown, while being pressed against the connection interface 780, with the connection interface 780 aligned with and slid upward into the channel 1156. When the connection interface 1150 is slid and lowered against the connection interface 780, the floor 1162 presses against the hook 1152 to elastically bend the hook 1152 into its underlying cavity 1153. Figure 52

[0200] As Figure 53 ​As shown, the connector 1150 is lowered until the undercut 1160 receives the latch 1151. At this point, the hook 1152 aligns with the cavity 1166, allowing the hook 1152 to elastically return to its original shape and extend into the cavity 1166, such that the edge 1188 of the hook 1152 is opposite to the lower edge 1168 of the cavity 1166. As a result, the connectors 780 and 1152 are mechanically interlocked in all directions. The channel 1156 engages the opposite side of the connector 780 to mechanically prevent relative lateral movement of the connectors 780 and 1150. The mutual engagement of the latch 1151 and the undercut 1160 prevents the connector 1150 from moving further downward relative to the connector 780. The interaction of the edges 1188 and 1168 prevents the connector 1150 from moving upward relative to the connector 780 and further prevents the connector 1150 from pivoting away from the connector 780 to withdraw the hook 1152 from the cavity 1166.

[0201] like Figure 54 As shown, the connection interface 1150 can be released or disengaged from the connection interface 780 to facilitate the separation and extraction of the lower link 56 from the lower leg grip 532 by manually engaging the handle 1178 and pushing the rod 1172 upward within the channel 1173 against the bias provided by the spring 1182. This upward movement causes the release ramp 1177 to move upward to engage with the hook 1152, bending the hook 1152 out of the cavity 1166 and further into the cavity 1153, so that surfaces 1168 and 1188 are no longer opposite to each other. Therefore, the connection interface 1150 (and the lower link 1056 of MAL) can be rotated in a clockwise direction (e.g., Figure 54 (As shown) pivot away from the connection interface 780 and raise to pull out the snap-fit ​​part 1151 from the bottom cut 1160, thereby separating the lower link 1056 from the lower leg grip part 532.

[0202] like Figure 49 and 53 As shown by the dashed lines, connection interface 1150 may additionally include one of a magnet or a magnetic attraction (e.g., iron) insert 1190, while connection interface 780 includes the other of a magnetic attraction or a magnetic insert 1192. Insert 1190 may be aligned with a center point along channel 1156. Inserts 1190 and 1192 cooperate to facilitate easier alignment of connection interfaces 780 and 1150. In other embodiments, such inserts may have other configurations or positions to magnetically assist alignment when connection interfaces 780 and 1150 are engaged. In other embodiments, such inserts may be omitted.

[0203] The exemplary configuration of the connection interface 580, 1102 and the connection interface 780, 1150 provides for easier, less tooling connection and disconnection of the MAL 540 and the leg grips 528, the unit 700. To connect the MAL 542 to the corresponding set of leg grips 528 and leg grip unit 700, the person wearing the outer harness 520 first slides the lower leg link 1050 down the outer garment 524 while pressing the lower leg link 1050 against the side of his or her leg, the hooks 1152 align within the cavities 1166, and the tabs 1151 are received by the undercuts 1160. Once this connection is made, the person simply aligns the hooks 1110 with the windows 1098 and presses the connection interface 1102 against his or her leg until the hooks snap into the windows 1098, thereby latching onto the overhangs 1100. This connection requires no tools and can be performed quickly with little effort by the person wearing the MAL 540.

[0204] If the person wishes to remove the MAL 540, he or she can simply press or squeeze the buttons 1114 toward each other to disengage the hooks 1110 from the collar or overhangs 1100 and pull the hooks 1110 out of the windows 1098. Thereafter, the person can simply lift the handles 1178 to disengage the hooks 1152 from the cavities 1166, thereby allowing the lower link 1056 to be pulled out and disconnected from the lower leg grip unit 700. In removing the MAL 540, the person can additionally cover the holes 550, 650 and the openings 551, 651 with the cover panels 680, 681, 690 and 691, respectively, as described above. The upper leg grips 528 and the lower leg grip unit 700 can remain in place within the leg openings of the garment 524.

[0205] Figure 55 Portions of an exemplary outer harness 1320 are shown. The outer harness 1320 is similar to the outer harness 520 described above, except that the outer harness 1320 includes an outer harness garment 1324. The outer harness garment 1324 is similar to the outer harness garment 524 (or the outer harness garment 524'), except that the outer harness garment 1324 additionally includes a lower MAL pocket 1370. Those remaining components of the outer harness 1320 that correspond to components of the outer harness 520 are similarly numbered and / or shown and described on other figures showing the outer harness 520.

[0206] The MAL pocket 1370 includes a pocket located on the exterior of the lower leg portion of the garment 1324, where the pocket 1370 has an upwardly facing mouth 1372. The pocket 1370 and mouth 1372 are sized and positioned to accommodate at least a portion of the lower link 1056 of the MAL 540 when the lower link 1056 is connected to the lower leg grip 532-1. The pocket 1370 extends over and is aligned with the hole 650 without covering the opening 651. In some embodiments, the pocket 1370 can be formed from the same fabric or other material that forms the leg of the garment 1324. In some embodiments, the pocket 1370 can be formed from an elastic material. The pocket 1370 conceals and covers the lower link 1056. Additionally, the pocket 1370 can help guide the lower link 1056 into connection with the lower leg grip 532-1. In some embodiments, the mouth 1372 can be held in a closed state by a zipper, hook and loop fastener, buttons, or the like when the MAL 540 is not in use and is not connected to the upper and lower leg grips.

[0207] Figure 56 A portion of an example external harness 1420 is shown. The external harness 1420 is similar to the external harness 520 described above, except that the external harness 1420 includes an external harness garment 1424. The external harness garment 1424 is similar to the external harness garment 524 (or the external harness garment 524'), except that the external harness garment 1424 additionally includes a MAL cover panel 1470. Those remaining components of the external harness 1420 that correspond to components of the external harness 520 are similarly numbered and / or shown and described on other figures showing the external harness 520.

[0208] The MAL cover panel 1470 includes a hinged panel located on the exterior of the garment 1324, where the cover panel 1470 is sized and positioned to extend over and cover the MAL 540 while it is secured to the upper and lower leg grips. In some embodiments, the cover panel 1470 can be opaque to conceal the MAL 540. In other embodiments, the cover panel 1470 can be transparent. The cover panel 1470 can be non-porous or water resistant to protect the MAL 540 from weather elements.

[0209] As shown by arrow 1473, the cover panel 1470 can be pulled out or away from the rest of the garment 1424 to expose the MAL 540 when the MAL 540 needs to be adjusted or removed. The cover panel 1470 can be secured to the external harness 1420 by one or more cover retainers 1472. The cover retainers 1472 can be formed from the same material as the external harness garment 1424 or other material. In some embodiments, the cover retainers 1472 can be formed from a hook and loop fastener, a zipper, buttons, or the like. Figure 56the illustrated example, the cover retainer 1472 can be formed of mating hook-and-loop fastener devices disposed on opposite surfaces of the cover panel 1470 and corresponding surfaces of the leg portions of the garment 1424. In other embodiments, the retainer 1472 can be in the form of a zipper, buckle, clasp, or the like.

[0210] While the cover panel 1470 is shown as extending from a unitary flexible hinge along the front side of the MAL 540 and the front side of the openings 551 and 651, in other embodiments, the cover panel 1470 can extend from a unitary flexible hinge along the back side of the MAL 540 and the back side of the openings 551 and 651. In some embodiments, rather than being suspended or affixed to the remainder of the garment 1424 by a flexible hinge, the cover panel 1470 can be completely separate from the remainder of the garment 1424. In such embodiments, the cover panel 1470 can be releasably affixed to the exterior of the garment 1424 by hook-and-loop fastener devices, buttons, clasps, buckles, or the like.

[0211] Figures 57-61 Portions of an example outer harness 1520 are shown. The outer harness 1520 includes an upper leg grab 1528, a lower leg grab 1532, and an ankle grab 1534. The outer harness 1520 also includes a MAL 1540, one for each leg. For purposes of illustration, only the left side MAL 1540 is shown. Finally, the outer harness 1520 includes a garment (pants), such as the garments 24, 524, 524', 1324, or 1424 described above and shown in the related figures. As with the outer harnesses 520, 1320, and 1420, the MAL 1540 is connected to the inner leg grabs 1528, 1532, and 1534 by connection interfaces that pass through openings, holes, or slits in the garment 24, 524, or 524'.

[0212] Each upper leg grab 1532 includes an outer piece 1600, an inner piece 1602, an upper contraction adjuster 1632-1, and a lower contraction adjuster 1632-2. The outer piece 1600 is configured to wrap around a substantial portion of a person's thigh and includes an upper loop 1604, a lower loop 1606, and an outer spine 1608. The upper loop 1604 is configured to wrap across the back of a person's thigh and terminate at ends that are spaced apart generally along the front of the person's thigh. The upper loop 1604 includes an inner cushion portion 1612 and an outer casing 1614. The inner cushion portion 1612 is formed of a compressible material, such as a foam material. The outer casing 1614 includes a layer made of a material that is stiffer than the inner cushion portion 1612. In some embodiments, the outer casing 1614 can be laminated or coated onto the inner cushion portion 1612. The outer casing 1614 facilitates the flexible wire of the upper contraction adjuster 1632-1 to slide along the outer surface of the upper loop 1604 and transfer loads to the spine 1608.

[0213] Lower loop 1606 is configured to wrap across the front of a person's thigh and terminate at spaced apart ends near the back or outside of the person's thigh. Like upper loop 1604, lower loop 1606 includes an inner cushion portion 1616 and an outer skin or shell 1618. Inner cushion portion 1616 is formed of a compressible material, such as a foam material. Outer shell 1618 includes a layer made of a stiffer material than inner cushion portion 1616. Outer shell 1618 facilitates the flexible wire of lower contraction adjuster 1632-2 to slide along the outer surface of lower loop 1606 and transfer loads to spinal column 1608.

[0214] Spinal column 1608 includes a rigid rod, column, or other structure that extends between and interconnects upper loop 1604 and lower loop 1606. In contrast to outer shells 1614 and 1618, spinal column 1608 is formed of a stiffer, more rigid material. In some embodiments, spinal column 1608 can be formed of a fiber composite material, such as a carbon fiber composite material. Spinal column 1608 supports connection interfaces 1650-1 and 1650-2 (collectively, connection interfaces 1650) and functions to facilitate load transfer between upper leg grip 1528 and the associated MAL 1540.

[0215] In the illustrated example, inner cushion portion 1612 and inner cushion portion 1616 are joined by an intermediate cushion portion 1622 that underlies spinal column 1608 in the region between loops 1604 and 1606. In the illustrated example, cushion portions 1612, 1616, and 1622 can be integrally formed as a single unit formed of one or more foam layers. In some embodiments, outer shells 1614 and 1618 likewise can extend continuously over and across intermediate cushion portion 1622, thereby further underlying spinal column 1608.

[0216] Connection interfaces 1650 facilitate load transfer of upper leg grip 1528 to the associated outer MAL 1540 through the garment. In the illustrated example, each connection interface 1650 includes a keyhole having an enlarged head portion receiving opening and a narrow neck portion receiving slot extending from the head opening, where the MAL 1540 includes a wider head portion that is initially received within the head opening, the head portion being supported by a neck portion that is slidably disposed within the narrow neck portion receiving slot when the head portion is inserted into the head opening to connect the MAL 1540 to the upper leg grip 1528. In other embodiments, connection interfaces 1650 can alternatively have a configuration similar to those patient connections described above with respect to external harness 520.

[0217] Internal component 1602-1 includes a pad configured to be horizontally aligned with upper ring 1604 along the inner front portion of the human thigh. Internal component 1602-2 includes a pad configured to be horizontally aligned with lower ring 1606 along the inner rear portion of the human thigh. Each internal component 1602 has a similar configuration to rings 1604 and 1606. Each internal component 1602 may have an inner padding layer, one or more foam materials, and an outer skin or shell that is harder but has a lower coefficient of friction than the padding layer to facilitate the sliding or movement of the flexible wire / cable of the contraction regulator 1632.

[0218] The contraction regulator 1632 operates in a similar manner. The contraction regulator 1632-1 includes an elongated flexible wire 1654-1 (cable, etc.) having opposite ends fixed to a rotatable winding spool or dial 1656-1 and opposite looping ends 1658-1 located in an elongated groove 1660 provided in the spine 1608 (e.g., Figure 60 (As shown). Rotation of the dial in one direction releases the flexible line to increase the free length of the flexible line 1654-1, while rotation of the dial in the opposite direction winds the flexible line to decrease its free length. In the example shown, the line 1654-1 is releasably held within the groove 1660-1 by a retaining tab 1662-1. The retaining tab 1662-1 may be elastically flexible to move to a position that does not cover the groove 1660-1 for easy removal of the line 1654-1, or it may snap into a withdrawable position for easy extraction of the line 1654-1 from the groove 1660-1. Extracting the line 1654-1 from the groove 1660-1 allows for easier positioning of the lower device 1606 around the human thigh. Rotation of the dial 1656-1 tightens or loosens the line 1654-1 to adjust the inner diameter of the ring 1604 to accommodate different thigh sizes.

[0219] The contraction regulator 1632-2 includes an elongated flexible wire 1654-2 (cable, etc.) having opposite ends fixed to a rotatable winding dial spool 1656-2 and opposite looping ends 1658-2 located in an elongated groove 1660-2 provided in the spine 1608. Figure 60The rotation of the dial in one direction releases the flexible line 1654-2 to increase the free length of the flexible line 1654-2, while rotation of the dial in the opposite direction winds the flexible line to decrease the free length of the flexible line. In the illustrated example, the line 1654-2 is releasably held within the groove 1660-2 by a retaining tab 1662-2. The retaining tab 1662-2 can be elastically flexible so as to move out of the way of the groove 1660-2 to facilitate removal of the line 1654-2, or can snap into an extracted position to facilitate extraction of the line 1654 from the groove 1660-2. Extraction of the line 1654-2 from the groove 1660-2 can allow for easier positioning of the lower device 1606 around a person’s thigh. Rotation of the dial 1656-2 tightens or loosens the line 1654-2 to adjust the inner diameter of the loop 1604 to accommodate different sized thighs.

[0220] In some embodiments, the dial 1656 can include a releasable ratchet for holding the rotational position of the dial. In some embodiments, the dial can include an elastically biased pin that is received within one of a series of detents to hold a selected angular positioning of the dial. In some embodiments, the dial can include a BOA dial commercially available from Compass Diversified. In other embodiments, the ratchet dial can include other rotatable dials that are each configured to wind a flexible line and selectively hold the flexible line in a selected degree of wrapping around the dial to adjust the length of the flexible line between the dial and the looped end. In some embodiments, the external harnesses 520, 1320, and 1420 can utilize the retraction adjuster 1632-1 in place of the disclosed retraction adjuster 632, with the flexible line, ratchet dial, and groove of the retraction adjuster 1632-1 in place of the strap and pinion.

[0221] In the illustrated example, the flexible lines 1654-1 and 1654-2 are guided by loops or opposing detents to hold the rotational or angular position of the dial when wound to a particular state. In some embodiments, the winding dial 1656 is disposed on the component 1616 and 1602. Although not illustrated, each of the components 1600 and 1602 can also be disposed with an outer shell formed by a rigid polymer shield or an outer flexible polymer or fabric wrap. For example, in some embodiments, the flexible line 1654 extending between the edge portions of the components 1600 and 1602 can be surrounded by an outer fabric or flexible polymer sleeve. The sleeve itself can be additionally disposed with a cushion between the sleeve and the surface of the thigh. In some embodiments, the sleeve can additionally surround the component 1600 and / or the component 1602. In some embodiments, the component 1602 can be omitted.

[0222] As Figures 57-60Further shown, each upper loop 1604 can be provided with a flexible tether 1670 similar to tether 574 described above. The flexible tether 1670 can include a securing mechanism 1672, such as a zipper, hook and loop fastener, button, snap, or the like, for releasably securing the tether 1670 to a support 526 of garment 524, 524', garment 1324, or garment 1424 as described above. In some embodiments, the tether 1670 and its connector 1672 can be omitted.

[0223] Lower leg grip 1532 is configured to extend around a lower leg of a person wearing external harness 1520, and includes a front piece 1700, a back piece 1702, a spine 1708, and a contraction adjuster 1732. Front piece 1700 extends around the front and sides of the lower leg, terminating at opposite ends along the back of the lower leg. Front piece 1700 includes an inner liner 1712 and an outer skin or shell. Liner 1712 and shell 1714 can have a composition and configuration similar to liner 1612 and outer shell 1614 described above.

[0224] Back piece 1702 includes a padded, bendable or flexible panel configured to extend along the path of a person wearing external harness 1520. Back piece 1702 is connected to front piece 1700 by a strap 1754 of contraction adjuster 1732.

[0225] Spine 1708 includes a rigid structure secured to the outer sides of front piece 1700 to provide load transfer between lower leg grip 1532 and MAL 1540. Spine 1708 forms or supports a connection interface 1750. Connection interface 1750 includes a socket or opening for receiving a removal piece extending from MAL 1540 and forming a connection interface of MAL 1540, such as a ball or head. In some embodiments, the ball or head pops into interface 1750 in the form of the socket or opening. In other embodiments, connection interface 1750 (and the corresponding mating connection interface of MAL 1540) can have a configuration similar to that described above with respect to connection interface of external harness 520. In other embodiments, other connection interfaces can be utilized to releasably connect lower leg grip 1532 to MAL 1540.

[0226] The cinch adjuster 1732 includes one or more straps 1754 extending between opposing end portions of the front member 1700, and the straps have an adjustable length. In the illustrated example, the straps 1754 are releasably connected to one or both of the end portions of the front member 1700 by hook-and-loop fastener devices, thereby providing the straps 1754 with an adjustable length between the end portions of the member 1700. In other embodiments, the straps 1754 can be secured to the member 1700 and portions thereof by other mechanisms that provide the straps 1754 with an adjustable length, such as a series of buttons or snaps, buckles, etc. In some embodiments, the cinch adjuster 1728 can have a similar construction as the cinch adjuster 1632 described above or the cinch adjuster 632 described above.

[0227] The ankle grip 1534 is similar to the lower leg grip 1532, except that the ankle grip 1534 is configured and sized to wrap around a region near an ankle of a person wearing the external harness 1520. The ankle grip 1534 includes a front member 1800, a spine 1808, and a cinch adjuster 1832. The front member 1800 extends around a back and sides of a leg above an ankle, terminating at opposing end portions forward along the ankle. The front member 1800 includes an inner liner 1812 and an outer skin or shell. The liner 1812 and the shell 1814 can have a composition and structure similar to the liner 1612 and the outer shell 1614 described above.

[0228] The spine 1808 includes a rigid structure secured to outer sides of the front member 1800 to provide load transfer between the ankle grip 1534 and the MAL 1540. The spine 1808 forms or supports a connection interface 1850. The connection interface 1850 includes a socket or opening for receiving a removal piece of a ball or head portion extending from and forming a connection interface of the MAL 1540. In some embodiments, the ball or head portion pops into the connection interface 1750 in the form of the opening or socket. In other embodiments, the connection interface 1850 (and the corresponding mating connection interface of the MAL 1540) can have a similar construction as described above with respect to the connection interface of the external harness 520. In other embodiments, other connection interface constructions can be utilized to releasably connect the ankle grip 1534 to the MAL 1540.

[0229] The retraction adjuster 1832 includes one or more straps 1854 extending between opposing end portions of the front piece 1800, and the straps have an adjustable length. In the illustrated example, the straps 1854 are releasably connected to one or both of the end portions of the front piece 1800 by hook-and-loop fastener devices, thereby providing the straps 1854 with an adjustable length between the end portions of the front piece 1800. In other embodiments, the straps 1854 can be secured to the end portions of the piece 1800 by other mechanisms that provide straps 1854 with an adjustable length, such as a series of buttons or snaps, buckles, etc. In some embodiments, the retraction adjuster 1832 can have a similar construction as the retraction adjuster 1632 described above or the retraction adjuster 632 described above.

[0230] The MALs 1540 extend along the outside of the sides of the garment and are releasably connected to the leg grips 1528, 1532, and 1534 through openings in the garment 24. The MALs 1540 are positioned to the sides of the person's legs, extending from above to below the knee. The example MALs 1540 provide powered motion or augmentation to the upper and lower legs of a person wearing the external harness. The example MALs 1540 each include a powered actuator 1952, an upper link 1954, and a lower link 1956. The powered actuator 1952 is configured to be positioned generally near the knee of the person and is configured to pivot the upper link 1940 and the lower link 1956 about an axis proximate the knee. In some embodiments, the powered actuator 1952 can be in the form of an electric motor and a gear train. In some embodiments, the powered actuator 1952 can be in the form of a pump that outputs pressurized fluid (liquid or gas) to hydraulically / pneumatically pivot the upper and lower links.

[0231] MAL 1540 is similar to MAL 540 described above, except that MAL 1540 is directly pivotably connected at two locations to upper leg grip 1528 and pivotably connected to each of lower leg grip 1532 and ankle grip 1534. MAL 1540 includes connection interfaces 1880-1, 1880-2, 1880-3, and 1880-4 for pivotable connection to upper device 1604, lower device 1606, lower leg grip 1532, and ankle grip 1534. Each of such connection interfaces 1880 can each include an extended neck supporting a flat or spherical head. The head is configured to be captured within a corresponding socket, opening, or slot provided in a connection interface on a leg grip. As described above, in other embodiments, MAL 1540 can be provided with other configured connection interfaces configured to be connected to connection interfaces provided on leg grips, respectively. In some embodiments, lower leg grip 1532 and ankle grip 1534 can be connected by an intermediate column or rod (as with lower leg grip 532 and ankle grip 534 described above). In such embodiments, MAL 1540 can not be connected to ankle grip 1534, but can terminate at its connection to lower leg grip 1532.

[0232] Figure 62 and 63 are schematic illustrations showing forces exerted by the exemplary external harness described above on a person's upper and lower legs. Figure 62 illustrates the thigh force F T and lower leg or ankle force F A . Figure 62 illustrates the thigh force F T and lower leg or ankle force F A . Similar forces can also be generated to assist in walking, running, or other motions.

[0233] While the application has been described with reference to examples, it will be understood by those skilled in the art that various changes can be made and equivalents can be substituted for elements thereof without departing from the scope of the claimed subject matter. For example, although different examples can have been described as including particular features, one or more of such features can be used in combination or in place of one or more of the other features described, in other examples. Since the technology of the present application is complex, not all changes that can be made will be foreseen by each reader. The aspects of the application described with reference to the examples and illustrated in the appended claims are intended to be illustrative, and not limiting. For example, unless otherwise specified, a claim referring to an element will include the element throughout the claim, regardless of whether or not the reference is repeated. The terms “first,” “second,” “third,” and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another, and the terms “the first,” “the second,” “the third,” and the like, are not necessarily used herein to denote this order or importance, unless otherwise specified.

Claims

1. An external harness comprising: an external harness garment having a waist opening, a first leg opening, and a second leg opening, the external harness garment including a first thigh portion and a second thigh portion; and a thigh cuff support supported by the first thigh portion.

2. The external harness of claim 1, wherein, The thigh cuff support is configured to removably support a thigh cuff.

3. The external harness of claim 2, wherein, The thigh cuff support is positioned within an interior of the first thigh portion.

4. The external harness of claim 3, wherein, The thigh cuff support includes a portion of a zipper.

5. The external harness of claim 1, wherein, The thigh cuff support includes a flexible tether having a first end portion connected to the first thigh portion and a second end portion connected to a portion of the zipper, the second end portion being repositionable along the first thigh portion relative to the first thigh portion, the flexible tether having a length of at least one inch between the first end portion and the second end portion.

6. The external harness of claim 1, wherein, The external harness garment is configured to support the thigh cuff within an interior of the first thigh portion, wherein the thigh cuff has a manual retraction control, and wherein the first thigh portion includes a retraction control access opening.

7. The external harness of claim 6, wherein, The external harness garment is configured for use with an external harness drive system having an electrically powered actuator and a thigh link positioned exterior to the first thigh portion and driven by the electrically powered actuator, and wherein the first thigh portion includes a link connection aperture for connecting the thigh link to the thigh cuff within the first thigh portion.

8. The external harness of claim 6, further comprising a cover panel coupled to the first thigh portion to selectively cover the manual retraction control access opening.

9. The external harness of claim 1, wherein, The external harness garment is configured for use with an external harness drive system having an electrically powered actuator and a thigh link positioned exterior to the first thigh portion and driven by the electrically powered actuator, and wherein the first thigh portion includes a link connection aperture for connecting the thigh link to the thigh cuff within the first thigh portion.

10. The external harness of claim 9, further comprising a cover panel coupled to the first thigh portion to selectively cover the link connection aperture.

11. The external harness of claim 10, wherein, The external harness garment is configured to support the thigh cuff within an interior of the first thigh portion, wherein the thigh cuff has a manual retraction control, and wherein the first thigh portion includes a retraction control access opening.

12. The external harness of claim 11, further comprising a cover panel coupled to the first thigh portion to selectively cover the manual retraction control access opening.

13. The external harness of claim 1, wherein, The external harness garment is configured to support the thigh cuff within an interior of the first thigh portion, wherein the thigh cuff has a manual retraction control, wherein the first thigh portion includes a retraction control access opening, wherein the exosuit garment is configured for use with an exosuit drive system having an electric actuator and a thigh link located outside the first thigh portion and driven by the electric actuator, and wherein the first thigh portion includes a link connection hole for connecting the thigh link to the thigh cuff within the first thigh portion; and wherein the exosuit garment further comprises: a cover panel coupled to the first thigh portion and configured to selectively couple the contraction controller access opening and the link connection hole.

14. The external harness of claim 1, wherein, The exosuit garment further comprises: a first calf portion extending from the first thigh portion; a second calf portion extending from the second thigh portion.

15. The exosuit of claim 14, further comprising a calf cuff support supported by the first calf portion.

16. The external harness of claim 15, wherein, The calf cuff support is configured to removably support a calf cuff.

17. The external harness of claim 16, wherein, The calf cuff support includes a portion of a zipper.

18. The exosuit of claim 1, further comprising a motion assist lateral cover panel coupled to the first thigh portion and configured to selectively cover at least a portion of a motion assist lateral device located outside the first thigh portion.

19. The external harness of claim 1, wherein, The exosuit garment includes a calf portion extending from the first thigh portion, and wherein the exosuit garment is configured for use with an exosuit drive system having an electric actuator and a calf link located outside the first thigh portion and driven by the electric actuator, wherein the first calf portion includes a link connection hole for connecting the calf link to the calf cuff within the first calf portion, and wherein the exosuit garment further comprises: an upwardly facing pocket having an interior that extends above the link connection hole and is sized to receive the calf link.

20. The external harness of claim 1, wherein, The exosuit garment includes a rear portion adjacent the waist opening, the rear portion including a pocket having an access opening to a pocket interior and a wire passage extending from the pocket interior.

Images