Soft exosuit for assistance with human motion

Abstract

To disclose systems and methods for providing assistance with human motion including hip and ankle motion.SOLUTION: Sensor feedback is used to determine an appropriate profile and actuate a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Cross - References to Related Applications This application claims priority to U.S. Provisional Patent Application No. 62 / 052,562, filed Sep. 19, 2014; U.S. Provisional Patent Application No. 62 / 107,729, filed Jan. 26, 2015; U.S. Provisional Patent Application No. 62 / 173,887, filed Jun. 10, 2015; U.S. Provisional Patent Application No. 62 / 183,149, filed Jun. 22, 2015; and U.S. Provisional Patent Application No. 62 / 193,793, filed Jul. 17, 2015, the entire contents of all of which are hereby incorporated by reference.

[0002] Description of Federally Sponsored Research or Development At least some aspects of the embodiments of the present disclosure were made with government support from the Defense Advanced Research Projects Agency (DARPA) under award W911NF - 14 - C0051. The government has certain rights in such aspects of this invention.

[0003] Field Embodiments of the present disclosure relate to assistive exercise devices, and more particularly to soft exosuit systems and methods for providing assistance to human movement, including lumbar movement and ankle movement.

Background Art

[0004] Background Over the past decade, a number of lower - limb exoskeletons have been developed to assist people in walking in various conditions. Some devices are designed to assist the disabled or able - bodied, while some are designed to make it easier to carry loads. Conventionally, these devices have consisted of rigid exoskeleton structures that enable high assistive torques for the wearer. However, rigid frames may limit the natural movement of the wearer and may apply undesired forces if they do not align well with the wearer's biological joints. Furthermore , Rigid devices can have a particularly large inertia with respect to the distal region, which can impede the wearer's movement and cause problems from a control perspective.

[0005] To address some of these problems characteristic of exoskeletons, exosuits have been developed that utilize mainly soft, flexible, or semi-flexible components (such as fabrics). The conformable, non-intrusive, and adaptable nature of many such exosuits has alleviated many of the problems identified above for rigid exoskeletons, but new problems have now arisen. Soft exosuits typically do not support loads like rigid exoskeletons, so the forces generated within the exosuit ultimately transfer to and are supported by the user's body. Therefore, considering comfort and safety, the amount of force that can be generated to assist movement may be limited. Additionally, since soft exosuits may be worn directly on the user's skin or over clothing, comfort can be an important design consideration. However, often, design considerations for comfort often conflict with considerations for maintaining the stiffness of an efficient system for transmitting loads through it. In particular, many comfortable fabrics tend to stretch when placed under tension. Such stretching can potentially sap energy effectively from the exosuit, requiring a larger motor and consuming more power to generate the same amount of assistive force on the human body compared to using higher modulus materials. Additionally, due to stretching, the exosuit elements can become misaligned and / or shift from their intended positions on the body, potentially leading to discomfort, unnatural torque application to joints, and increased power requirements. The inherently adaptable and non-linear soft exos The mechanical structure of a device may also make it difficult to accurately and reliably deliver the desired amount of assistive force for the various parts of the user's body. Accordingly, there is a need for a lightweight and comfortable exosuit for motion assistance that is configured to maintain a desired position and alignment on the body and provide an efficient load path and transmission characteristics therethrough.

[0006] Separate from the mechanical challenges of actuating a soft exosuit, there is another challenge in delivering effective assistance considering the significant variability in joint kinematics and muscle activation patterns. Existing approaches to motion assistance control cannot cope with normal or unpredictable variations in the wearer's current stride because they use historical data or predefined constants to estimate the start of assistance. In particular, many control systems estimate the start of the motion to be assisted during the current stride using historical data from previous strides or predefined data. Other systems may be configured to apply power with a predefined constant time offset set to correspond to a portion of the average person's gait cycle. This can be a problem in situations where the user's gait varies, as is often the case in real-life activities. Accordingly, there is a need for a control system that is configured to adapt in real time to the user's motion and thus provide assistive power at appropriate times and magnitudes.

[0007] Another challenge is delivering effective assistance considering the significant variability in the wearer's kinetics due to spatio-temporal factors such as gender, age, height, weight, and locomotive speed. Existing control systems do not address these variations and instead provide a one-size-fits-all level of assistance that is not suitable for a particular wearer of the exosuit. Accordingly, there is a need for a control system that is configured to adapt the level of assistance to the characteristics of a particular wearer of the exosuit and / or the activity being performed. SUMMARY OF THE INVENTION

Means for Solving the Problem

[0008] Summary A system and method for providing assistance to human movement using an exosuit system are disclosed. In various embodiments, the exosuit can be actuated to apply an assisting force to a human body to reinforce the force generated by underlying muscle tissue. Various sensors are used to monitor the forces generated in the exosuit and the movement of the user's body to determine a suitable profile for actuating the exosuit and deliver a desired level of assistance at an appropriate timing.

[0009] To provide assistance tailored to the user and the current activity, in various embodiments, user dynamics and kinematic variations as well as the construction, materials, and fit of the wearable robot system are considered. In various embodiments, the exosuit compares the actual force or integral power generated in the exosuit to a desired force, thereby using an iterative approach to ensure an appropriate magnitude of actuation regardless of variations in fit and body characteristics among users of the exosuit system. The magnitude of the assistance provided may, in various embodiments, be affected by factors that influence the biological load on the body, such as spatio-temporal factors like body weight and locomotion speed. Further, in various embodiments, real-time detection of body movement and walking events is utilized to match the timing of assistance to the user's actual movement at any given time, thereby coping with normal or unpredictable variations in the user's movement or walking.

[0010] In various embodiments, movement assistance may be provided to the user's hip joint to assist locomotion. This involves, in various embodiments, determining the desired peak force or integral power that the exosuit system should generate during the user's current walking cycle , generating an operation profile according to which the exosuit can be operated to generate a desired peak force or integrated power, monitoring real-time measurements of the angle of the hip joint to detect when the hip joint reaches its maximum flexion angle, and in response to detecting that the angle of the hip joint has reached its maximum flexion angle, operating the wearable robot system according to the operation profile to assist the user's hip joint extension movement.

[0011] In various embodiments, movement assistance may be provided to the user's ankle joint to assist mobility. In an embodiment, assistance may be provided during one or a combination of the dorsiflexion movement and plantarflexion movement of the ankle joint. Appropriate timing may be determined by monitoring sensor measurements in real time to detect subsequent changes in the direction of ankle rotation indicating the transition from heel strike and dorsiflexion movement to plantarflexion movement. In response to detecting a first change in the direction of the measured rotational speed of the ankle joint, the exosuit may be operated to assist the plantarflexion movement of the user's ankle joint. In an embodiment, the exosuit system may be configured to independently control the negative and positive powers delivered to the ankle joint during dorsiflexion movement and plantarflexion movement, respectively.

[0012] Embodiments of the present disclosure will be further described with reference to the accompanying drawings. The drawings shown are not necessarily to scale, and instead, emphasis is generally placed on illustrating the principles of the embodiments of the present disclosure.

Brief Description of the Drawings

[0013]

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Mode for Carrying Out the Invention

[0014] Detailed Description The drawings identified above show the embodiments disclosed in this specification, but other embodiments are also contemplated as noted in the discussion. This disclosure presents exemplary embodiments by way of illustration and not limitation. Those skilled in the art can devise numerous other variations and embodiments that fall within the scope of the principles and meaning of the embodiments disclosed herein.

[0015] A system and method for providing assistance to human movement using an exosuit system are disclosed. Embodiments of the present disclosure generally assist natural movement driven by muscles via a soft exosuit in a manner suitable for reducing the effort required to perform natural movement, thereby enhancing endurance or enabling movement that would otherwise be impossible, by providing an exosuit with an efficient load path for directing and distributing potentially high assistive forces to various parts of the user's body.

[0016] Exosuit System 100 Embodiments of the exosuit system 100 can provide a novel soft exosuit design configured using an efficient load path for directing and distributing potentially high assistive forces to various parts of the user's body while maintaining comfort and minimizing interference with the user's natural movements. The exosuit system 100 monitors the user's natural movement, detects in real time the initiation of the movement to be assisted, and detects or estimates how long the movement can continue, and provides assistance that adapts to the kinematic variations of the user's activity. can be provided. The exosuit system 100 can further be adapted to variations in the properties of the exosuit, the way it fits the user, and other factors to ensure the delivery of the desired amount of assistance. Additionally, the exosuit system 100 can adapt the level of assistance to be provided to the user, based, among other things, on the characteristics of the user's body (e.g., build, weight), spatio-temporal factors (e.g., locomotion speed), and the user's comfort preferences.

[0017] FIG. 1 shows an exemplary embodiment of an exosuit system 100, which can generally include a soft exosuit 200, an actuation system 300, sensors 400, and a control system 500. The soft exosuit 200 may be worn by a user, and the actuation system 300 can move components of the soft exosuit 200 to generate a pulling force therein. The control system 500 can utilize measurements from the sensors 400 to monitor the user's movement and the forces generated in the soft exosuit 200 and control the timing and amount of assistance provided to the user.

[0018] Soft exosuit 200 FIG. 2 shows a representative embodiment of the soft exosuit 200. The soft exosuit 200 of the exosuit system 100 may generally include one or more anchor members 210. The anchor member 210 may include any wearable component in various embodiments that can transmit the load generated in the soft exosuit 200 to the user's body. Exemplary embodiments of the anchor member 210 may include, without limitation, a waist anchor 212, a leg anchor 214, a calf anchor 216, and / or a foot anchor 218. The waist anchor member 212 may be any component configured to provide load support in an embodiment by securely strapping over the user's waist, such as a waist belt. The leg anchor member 214 and the calf anchor member 216 may be any component configured to provide load support in various embodiments by securely strapping around the user's leg and calf, respectively, such as a leg wrap or a calf wrap. The foot anchor member 218 may be any footwear such as a boot or other component suitable for being worn on or otherwise coupled to the user's foot and configured to provide load support to the foot of the exosuit user in an embodiment. Of course, the soft exosuit 200 may include any number of suitable types of anchor members 210 and combinations thereof, and the present disclosure is not intended to be limited to only the exemplary embodiments described herein.

[0019] With further reference to FIG. 2, the soft exosuit 200 may further include one or more connection elements 220. The connection elements 220 may, in various embodiments, comprise one or a substantially continuous series of flexible elongate components arranged to connect components of the soft exosuit 200 to one another and to define a load path therebetween along which tensile forces may be transmitted. One or more of the connection elements 220 may, in an embodiment, be substantially inextensible to more efficiently transmit tensile forces through the soft exosuit 200. In an embodiment, the soft exosuit 200 may include a connection element 222 that extends between and is coupled to the waist anchor 212 and the leg anchor 214, as shown. Additionally or alternatively, in another embodiment, the soft exosuit 200 may include a connection element 224 that extends between the waist anchor 212 and a lower portion of the user's leg. In an embodiment, such a connection element 224 may be directly or indirectly coupled to the calf anchor 216 and / or the foot anchor 228. Of course, the soft exosuit 200 may include any number of suitable types of connection elements 220 and combinations thereof, and the present disclosure is not intended to be limited to only the exemplary embodiments described herein.

[0020] FIGS. 3A, 3B, and 3C illustrate further features of the soft exosuit 200 Additional views (i.e., front, back, and side views, respectively) of the soft exosuit 200 are shown for the purpose of. Referring to FIG. 3A, the soft exosuit 200 may include two connecting elements 224a, 224b. The first ends of the connecting elements 224a, 224b may be coupled to the front portion of the waist belt 212, and the intermediate portions of each of the connecting elements 224a, 224b may extend downward along the front portion of the user's legs. The intermediate portion may then split near the lateral side of the knee and may extend along the center of rotation of the user's knee joint, as best shown in FIG. 3C. Referring to FIGS. 3B and 3C, the connecting elements 224a, 224b may continue downward and may wrap around the back under the user's legs as shown. Referring to FIG. 3B, as will be described in more detail later, the anchor member 210 may be provided with a mounting point 240 to which one or more actuating elements 320 may be mounted.

[0021] Materials and Construction One or more components of the soft exosuit system may be made at least in part from a high modulus material. By utilizing a high modulus material, transmission losses along the load path of the suit due to material stretch may be minimized. By minimizing transmission losses in the soft exosuit system and securing its different components, power consumption, motor size, and battery size may be reduced. In addition, minimal stretch further aids in securing components of the soft exosuit system (such as the anchor member 210) in place, thereby helping to maintain proper alignment of the soft exosuit 200 on the wearer's body.

[0022] Embodiments of the soft exosuit system may further include materials that provide comfort by reducing the risk of abrasion due to the interaction of the stiffer high modulus material with the body. As will be described in more detail below, the exosuit may be constructed to be more like a one-piece article of clothing rather than a complex series of components such as harnesses and straps that may lengthen the time for donning and doffing the soft exosuit system.

[0023] The various anchor members 210 may be made from a woven reinforcing material in various embodiments. The woven reinforcing material can have different tensile properties in different directions, whereby such a cloth can be used to help define and reinforce the load path, instead of potentially uncomfortable web knitting reinforcement. The woven reinforcing material can be constructed to be adjustable in shape and contour and conformable thereto so as to enhance their ability to stay in place when a load is applied.

[0024] Figures 4A, 4B, and 4C illustrate exemplary embodiments of the waist anchor member 212. The waist anchor 212 can be configured to surround the user's waist and engage the iliac crest for support. In an embodiment, the waist anchor 212 is connected or attached to other components of the soft exosuit 200, such as the leg anchor 214, via a connection element 222 to reliably minimize migration and drift during body movement. The contoured pattern of the suit provides a form-fitting fit that properly aligns with attachment points on corresponding components of the soft exosuit 200.

[0025] The waist anchor 212 can be made using various cloth materials in various embodiments. The waist anchor 212 can include laminated materials and panel pieces with intricate patterning in various embodiments. The back of the waist anchor 212 can be composed of two or more panels of a laminated plain weave material, such as Typhoon, as shown in FIG. 4B, and may be further reinforced with a tough material such as canvas. The front panel of the waist anchor 212 can be attached at the angled side seams, and the left and right front panels of the waist belt can overlap to surround the waist and can be connected using Velcro®. By cutting and integrating plush-padded materials, the woven fabric and so on Comfort can be maintained by reducing the area of the laminated fabric. For example, a foam pad can be sewn under the cutout that aligns with the iliac crest of the wearer. This pad can reduce pressure and improve comfort when the system applies an asymmetric load during the walking cycle.

[0026] Referring to FIGS. 4D and 4E, the material of the waist anchor 212 can be arranged so as to provide a load path through the waist anchor 212 and reinforce the area where the load can be introduced from other components of the soft exosuit 200 to the waist anchor 212. In an embodiment, the reinforcing material and / or other materials can be positioned at the location where the connecting element 224 joins the front surface of the waist anchor member 212 at the attachment point 250 and at the location where the connecting element 222 joins the side surface of the waist anchor member 212. As shown by the arrows depicted in these figures, the material can be arranged in a manner suitable for directing the load entering and leaving the waist anchor 212 along a predetermined load path. As shown, in an embodiment, the material can be arranged to direct these loads more vertically near the top of the waist anchor 212, providing a natural up-and-down load above the waist. When tension is applied, the material can also be oriented such that the most stable direction is along the path of the load being delivered through the suit. Each panel can be constructed using multiple layers of the typhoon and a reinforcing canvas material oriented in opposing directions to support the load introduced into the waist anchor 212 and disperse an asymmetric load to both hips.

[0027] FIG. 5 shows a representative embodiment of the leg anchor 214. The leg anchor 214 can include a multi-panel piece panel configured to wrap around a user's leg. This strip of material can overlap itself and can be secured using individual Velcro tabs, string ties, a reel-cord system, or an adjustment mechanism. The leg anchor 214 can further have a contoured design and a plurality of adjustable Velcro tabs, which provide a comfortable fit while minimizing the risk of slipping. Separate elastic segments along seams and / or tabs and closures can be included to improve comfort when tension is applied and actuated and to allow for a more form-fitting interface with the wearer's body. With several individual tabs, the leg anchor 214 can wrap around the leg and fasten with different amounts of tension between each tab, allowing for an even accommodation of the contours of leg and quadriceps activity. By adding elastic material, the pressure during actuation and when the muscle bends and relaxes as it moves is reduced. The leg anchor member 214 may be made in various embodiments using various additional fabric materials, including Tyvek foam and reinforced canvas, as previously described in the context of the waist anchor 212. A representative placement of the leg anchor 214 can span a distance of at least 15 centimeters above the patella by about 12 centimeters. However, one of ordinary skill in the art will recognize a number of suitable positions for the leg anchor 214 for a given application.

[0028] Returning to FIG. 4E, the leg anchor member 214 can be constructed to evenly distribute force across the leg. While maintaining comfort with a flexible reinforcing material that can be patterned to interface along a load path extending between the leg anchor 214 and the waist belt 212 via connection element 222, the form-fitting contour of the leg piece design stays firmly on the leg. As indicated by the arrows, a woven reinforcing material can be further disposed to reinforce the load path where the leg anchor member 214 connects to the rear connection element 222 of the waist anchor member 212 on the back side. Near the central portion of the leg anchor member 214, a material such as a reinforced canvas can be further disposed to direct these loads more vertically, as indicated by the arrows drawn in this figure, to impart a natural up and down load on the leg.

[0029] FIGS. 6A-6F illustrate exemplary embodiments of the shin anchor 216. First referring to FIGS. 6A, 6B, and 6C, the shin anchor 216 can include a sleeve-like structure configured to couple firmly to the lower portion of a user's leg, such as the shin region. A representative placement of the shin anchor 21 6 can extend over a distance of at least 18 centimeters, approximately 7 centimeters below the patella. However, one of ordinary skill in the art will recognize a number of suitable positions for the shin anchor 216 for a given application.

[0030] The shin anchor 216 can be configured to moderately compress the shin muscles even without an external force applied from the actuation system 300. As previously described in the context of the waist anchor 212 and the leg anchor 214, the shin anchor 216 can be reinforced with materials along the load path and can overlap itself. This sleeve can be secured using individual Velcro tabs, string ties, a reel-cable system, or an adjustable mechanism. By using these securing directions or combinations of these securing methods, the unique and different contours of an individual's shin can be accommodated while remaining stable on the wearer during actuation.

[0031] The shin anchor 216 can additionally use a foam pad that should be placed under the string tie that encompasses most of the shin. This string tie can consist of a non-extensible string, an extensible elastic string, a reel-cord system, or an adjustable mechanism. The integrated or removable pad can reduce the pressure generated from the back of the shin when the system is in operation. The shin anchor 216 can fit comfortably and conformingly due to its multi-piece patterned contour design, double fixation stopper, and inclusion of an elastic string tie.

[0032] Referring to FIG. 6D, the shin anchor member 216 can be constructed to evenly distribute force over the user's shin area. For example, the fabric can be oriented so that the fabric particles face in a specific direction to provide the desired distribution of corresponding forces on the body. The wrap functions by the "jamming" of the fabric against the calf and the side of the shin muscle when force is applied downward on the back surface. The orientation of the reinforcing material can be extremely important for the even distribution of inward force over most of the shin muscle and tendon when the top of the calf mainly receives an inward force. The shin anchor 216 can mainly consist of a woven fabric oriented such that the most stable direction is along the load path through which force is delivered through the suit. This can be further reinforced with a canvas material patterned on the back surface of the shin wrap in a "V" shape to direct force upward and laterally to the shin muscle and tendon. By creating an overlap over the reinforced "V" shape, as will be described later, an integrated point for the attachment of the corresponding operating element 220 can be made possible. Since the base of the attachment part may rub against the foot anchor 18 such as a boot during operation, this overlapping attachment part can be further reinforced with a wear-resistant material.

[0033] Figures 6E, 6F, 6G, and 6H show exemplary coupling elements 217 for connecting the shin anchor 216 using the connection element 224. Although the coupling element 217 may be referred to herein as a "Y-strap," it should be recognized that the present disclosure is intended to include any mechanism suitable for this purpose. The Y-strap provides a portion of the reaction force resulting from the tensile load applied to the foot anchor 218 that is to be transmitted, in part, through the shin anchor 216 to the user's shin and, in part, to the connection element 224. This coupling can enable a high degree of distribution of the assistive force into two different anchor members 210, such as the shin anchor 216 and the waist anchor 212, through the connection element 224. This coupling can also serve to reduce the displacement of the actuating element 320 and thereby help minimize transmission losses within the exosuit system 100. By minimizing displacement and transmission losses, the amount of battery power required to generate the desired force through the actuation system 300 can be minimized.

[0034] The Y-strap 217 is a specially configured component that interfaces with the shin anchor 216 and the connection element 224 to form a load path therebetween. The Y-strap 217 can be constructed from a layered fabric and reinforced canvas. The strap is composed of five individual connection points. Two of these connection points connect the Y-strap 217 to the shin anchor 216. In particular, the two overlapping "V"-shaped legs of the strap are connected using Velcro to pass through two individual 2-bar slides that are attached to the force path of the shin wrap. This enables two different components to support the resultant force generated by the exosuit cable, so that the Y-strap 217 can reduce the stress on the tissue under the shin wrap and the waist belt, or increase the maximum amount of assisting force that the exosuit can deliver without compromising the wearer's comfort. The Y-strap 217 is coupled to the ends of the connection elements 224a, b using a third connection point. In particular, there is a loop ring at the intersection of the two "V" legs of the strap, through which a cord having two loops is passed. Each loop-shaped end of the cord may be coupled to the lower ends of the connection elements 224a, b, which may be located on the opposing lateral sides of the user's knee joint in an embodiment. The fourth and fifth connection points may be loops located near the convergence point of the "V" legs of the Y-strap 217 and are used to couple the Y-strap 217 to a mechanism for mounting an actuating element 320 for actuating the soft exosuit 200. The mechanism may be coupled to the Y-strap 217 via two pins inserted through the loop, as shown in FIG. 6G in an embodiment.

[0035] Referring to FIG. 6H, it should be noted that the tensile load may not be evenly distributed between the outer connection element 224a and the inner connection element b due to the asymmetry in the legs and gait dynamics of the user of the soft exosuit. In particular, if the lower portion of the connection element 224 is coupled to the Y-strap 219 at a fixed position, the load can be greater on the connection element 224a directed along the outer side of the knee of the user of the soft exosuit than on the connection element 224b directed along the inner side of the knee of the user of the soft exosuit. This can cause an uncomfortable lateral torque to be applied to the knee joint. Therefore, the cord is allowed to slide laterally within the loop, whereby the connection elements 224a, 224b can be made to move up and down as shown by the arrows in FIG. 6H. In this way, the balance of the asymmetric lateral loads applied to the connection elements 224a, 224b is automatically taken, and as a result, a system that automatically balances can be obtained. Of course, those skilled in the art will recognize that any number of mechanisms may be suitable for balancing the unequal forces applied by the connection elements 224a, 224b, and that the present disclosure is not intended to be limited only to the exemplary embodiments described herein.

[0036] FIGS. 7A, 7B, and 7C show embodiments of the foot anchor member 218. As shown in FIG. 7A, in an embodiment, the foot anchor member may comprise footwear such as a boot. In such an embodiment, the foot anchor member 218 may include an external heel coupler 219 that acts as an anchor point above the heel of the boot. The actuating element 320 of the actuating system 300 may be attached to the heel coupler 219 in various embodiments to deliver a tensile force to the soft exosuit 200, as will be described in more detail later. In another embodiment (not shown), the foot anchor 218 may include a footwear insert instead of or in addition to a standard insole of the footwear, and may similarly act as an anchor point behind the heel of the footwear.

[0037] Generally, many forms of footwear are capable of significant deformation when loaded. Thus, when an upward pulling force acts on the anchor point at the heel of the footwear, the sole may bend upward, and a portion of the footwear may shift on the user's foot, potentially leading to shoe rub and other discomfort. Deformation can also dissipate energy from forces transmitted within or through the soft exosuit 200, such that the actuation system 300 must generate a greater amount of force to achieve the desired derived loads within the soft exosuit 200.

[0038] To reduce deformation in response to loads introduced to the footwear anchor 218, thereby increasing comfort and improving performance, the foot anchor 218 may include a structural stiffening component. FIG. 7B shows an exemplary stiffening component, and FIG. 7C shows the exemplary stiffening component of FIG. 7B installed on a boot for illustrative purposes.

[0039] The stiffening component (also referred to herein as a footwear stiffener or a boot stiffener) may interface with the heel section of the foot anchor 218 via a threaded insert. Buttress threads may be used near the ball of the thumb to reduce cross-section and provide additional comfort. Threaded screws attached to a flexible epoxy may also be used to provide additional stiffness. In embodiments, the footwear stiffener may be constructed from a lightweight, strong material including, but not limited to, carbon fiber (CF). CF is mentioned for its relatively high strength-to-weight ratio, but other materials may also be suitable for the footwear stiffener, whether they are metals, polymers, or composites. Those skilled in the art will recognize suitable materials and construction for a given application.

[0040] The footwear stiffening member can be contoured to fit around the sides of the bottom of the boot in the embodiments, leaving some additional space in selected areas such as the arch of the foot to improve comfort. The stiffening member layer can be secured to the boot using a number of screws, nuts, bolts, and / or other fasteners, or using an adhesive material, or via any other suitable method.

[0041] The footwear stiffening member improves the stiffness of the foot anchor 218 by increasing the effective stiffness of the shoe sole. Since the CF is much stiffer than the sole of the footwear, the CF bears most of the load and hardly deforms. This means that, similar to a rigid hiking boot, there is little or no deformation of the foot anchor 218, at least between the ball of the thumb and the heel. Thus, the footwear stiffening member improves the efficiency of the system by increasing the stiffness of the foot anchor 218, and as a result, the magnitude of the actuation required to achieve the same force can be smaller (for example, a smaller cable travel as described later). For example, tests have shown that using a footwear stiffening member can reduce the amount of travel required to generate a force of 450 N in the soft exosuit 200 by about 560%. The reduced travel means a lower speed, which results in lower power consumption. This is because the movement required for the actuator 210 (for example, a motor) to achieve the desired force is smaller. The power consumption is defined using Equation (1).

[0042]

Number

[0043] Wherein the power consumption is represented by P (W), the force is represented by F (N), and the speed is represented by v. Based on Equation (1), when the speed decreases while the force remains constant, the power generated by the drive motor can be smaller.

[0044] FIG. 7D shows another embodiment of a footwear stiffener comprising components from various materials. As shown, the footwear stiffener of FIG. 7C includes an aluminum spar extending from the heel to the calcaneus - midfoot joint of the foot and a carbon fiber cup extending around the heel. In an embodiment, the thickness of the carbon fiber cup component can be about 2 mm to 4.5 mm. The combination of aluminum and carbon fiber materials can improve the durability of the boot stiffener, providing improved stiffness and comfort.

[0045] FIGS. 8A, 8B, and 8C show various perspective views of an exemplary embodiment of connection element 220. In various embodiments, connection element 220 can be made using various fabric materials including layers of reinforced canvas material, the various fabric materials being oriented and assembled such that their overlaps create a connection point or an integrated loop for system attachment. Orienting in its most stable direction and along the load path through which force is transmitted through the suit eliminates the possibility of a stiffness interruption transitioning from the fabric to another component. A pad can be added between the integrated attachment loop and the wearer's body so that movement during actuation that digs the cable attachment component into the wearer's body cannot be felt. The connection element 220 can be dimensionally stabilized using laminated reinforced canvas through a 2-bar slide attachment point on the waist belt, while the other end of the connection element 220 includes a D-ring through which the cord of the Y-strap, i.e., the "cable guide", can pass through the load path between the waist belt and the shin wrap to complete this.

[0046]

[0047] Figures 9A, 9B, and 9C illustrate embodiments of the base layer 230 (e.g., shin pad) of the soft exosuit 200. In various embodiments, the base layer 230 and other components of the soft exosuit 200 may include lightweight, breathable, and antibacterial materials. Table 1 below provides a general description of various materials from which the base layer 230 may be fabricated in various embodiments, and the potential benefits associated with those materials.

[0048]

Table 1

[0049] As shown in Table 1, Tyvek is an example of a woven fabric material, and laminated canvas is an example of a reinforcing material applied to one or more components of the soft exosuit 200. Tyvek can be flexible, relatively breathable, lightweight, and further reinforceable with canvas along a desired direction. The woven reinforcing material may include adjustable Velcro closure tabs, strings, or other elements that provide a custom fit. The woven reinforcing material may further be provided with integrated attachment points for connection using various connecting elements and may be reinforced with a laminate of canvas to increase dimensional stability.

[0050] Foam pad material may be added to a structurally important area of an individual component of the exosuit where rubbing and pressure can occur over or between a bony prominence of the wearer's body and a mechanical component worn thereon.

[0051] In certain areas of the soft exosuit system where fabric breathability is a concern the shin pad fabric may include a mesh lining. The shin pad fabric may further include pad material in one or more areas where other components of the exosuit system may contact the body (e.g., at one or more locations of the anchor components 210 and / or along all or part of a body area where the connection and actuation elements 220 and 320 may each extend therealong).

[0052] Actuation system 300 Figure 10 shows a representative actuation system 300 for generating a tensile force to be delivered to a user in the soft exosuit 200. The actuation system 300 may include one or more actuators 310 and an actuation element 320 in various embodiments.

[0053] The actuator 310 may include, in an embodiment, any suitable mechanism known in the art for displacing the actuation element 320 in a manner that generates a force in the soft exosuit 200 by displacement, such as a motor. For ease of explanation only, the actuator 310 may be referred to herein as a motor, but it should be recognized that the present disclosure is not intended to be limited to this particular embodiment of the actuator 310.

[0054] The actuation element 320 may include, in an embodiment, elements such as a cable, a fabric strap, a web braid strap, a wiring, etc. In various embodiments, the proximal end of the actuation element 320 may be coupled to the motor 310, perhaps via a pulley 330 and a gearbox 340 as shown, and the distal end of the actuation element 320 may be coupled to one or more components of the soft exosuit 200. For ease of explanation only, the actuation element 320 may be referred to herein as a cable or a Bowden cable, but it should be recognized that the present disclosure is not intended to be limited to this particular embodiment of the actuation element 320.

[0055] Referring to FIG. 11, in various embodiments, the motor 310 may be located distal from the portion of the soft exosuit 200 to which the cable 320 is attached, and the cable 320 may extend therebetween. In certain such embodiments, the motor 310 may be located above the user's torso or waist, such as in a backpack or waist pouch, or anywhere on the waist anchor 212. In other embodiments, instead, the motor 310 can be positioned proximate to the portion of the soft exosuit 200 to which the cable 320 is attached. By providing drive power locally, transmission losses along the cable 320 can be reduced, and the driver motor 310 required to generate the desired force can be made smaller. However, positioning the drive motor 310 locally can increase the inertia of the add-on being assisted, and in order to apply a correspondingly larger force to assist movement, the size of the motor 310 may have to be made relatively larger. Various embodiments of the actuation system 300 can have various suitable drive motor 310 arrangements and sizing depending on the various applications of the soft exosuit system 100.

[0056] Referring to FIGS. 12A-12E, the cable 320 of the actuation system 300 can be configured to couple to one or more components of the soft exosuit 200 in a manner suitable for generating a tensile force therein. In various embodiments, the cable 320 can be configured to connect to a portion of the soft exosuit 200 positioned over an upper portion of the user's leg. In one embodiment, the distal end of the cable 320 may be coupled to the leg anchor 214 and the intermediate portion of the cable 320 may be coupled to the waist belt 212. For example, the cable 320 may be coupled to the rear portion of these components and may extend along the rear portion of the user's leg as shown in FIGS. 12A and 12E. Additionally or alternatively, the cable 320 may be coupled to the front portion of these components and may extend along the front portion of the user's leg as shown in FIG. 12B).

[0057] In various other embodiments, cable 320 may be configured to connect to a portion of soft exosuit 200 positioned on the lower portion of the user's leg. In an embodiment, as shown in FIGS. 12C, 12D, and 12E, the distal end of cable 320 may be coupled to foot anchor 218, and the intermediate portion of cable 320 may be coupled to connection element 224 and / or shin wrap 216. For example, cable 320 may be coupled to the rear portion of foot anchor 218 and extend along the rear surface portion under the user's leg to Y-strap 219, thereby being indirectly coupled to shin wrap 216 and connection element 224.

[0058] FIGS. 12A-12E also show how actuation system 300 generates a tensile force in various embodiments of soft exosuit 200. When configured, displacement (e.g., shortening) of cable 320 by drive motor 310 can introduce a tensile force that pulls the components of soft exosuit 200 towards each other, as further described below.

[0059] FIG. 12A shows an embodiment of soft exosuit 200 including waist anchor 212 and thigh anchor 214. The distal end of cable 320 of actuation system 300 is coupled to thigh anchor 214, and the intermediate portion is coupled to waist anchor 212, with cable 320 extending along the rear of the user's thigh. Displacement of cable 320 generates a tensile force that pulls waist anchor 212 and thigh anchor 214 towards each other, as indicated by the arrow. This force is offset from the center of rotation of the hip joint and can apply torque in the extension direction around the user's hip joint, much like the activation of the hamstring and gluteus maximus muscles can act to pull the femur posteriorly around the lumbar joint, as indicated by the corresponding arrow.

[0060] FIG. 12B shows another embodiment of the soft exosuit 200 with the same components, except that the cable 320 extends along the front of the user's leg. The displacement of the cable 320 generates a tensile force that pulls the waist anchor 212 and the leg anchor 214 towards each other, as indicated by the arrows. This force is offset from the center of rotation of the hip joint and can exert a torque in the flexion direction around the user's hip joint (as indicated by the corresponding arrows) in much the same way that activation of the quadriceps can act to pull the femur forward around the lumbar joint.

[0061] FIG. 12C shows an embodiment of the soft exosuit 200 comprising a calf anchor 216 and a foot anchor 218. The distal end of the cable 320 is coupled to the foot anchor 218 and the intermediate portion is coupled to the calf anchor 216, and the cable 320 extends along the back under the user's leg. The displacement of the cable 320 generates a tensile force that pulls the foot anchor 218 and the calf anchor 216 towards each other, as indicated by the arrows. This force is offset from the center of rotation of the ankle joint and can exert a torque in the plantarflexion direction near the user's ankle joint (as indicated by the corresponding arrows) in much the same way that activation of the calf muscles and Achilles tendon can act to rotate the ankle downward.

[0062] FIG. 12D shows an embodiment of a soft exosuit 200 comprising a waist anchor 212, a foot anchor 218, and a connection element 224 extending therebetween in the manner shown in FIGS. 3A, 3B, and 3C (or a similar manner). The distal end of the cable 320 is coupled to the foot anchor 218, the intermediate portion is coupled to the connection element 224, and the cable 320 extends along the posterior surface under the user's leg. Displacement of the cable 320 generates a tensile force that pulls the foot anchor 218 and the connection element 224 towards each other, as indicated by the arrows. This force is offset from the center of rotation of the ankle joint and can act in a similar manner to activate the muscles of the tibia and the Achilles tendon to rotate the ankle downward, and can apply torque in the plantarflexion direction near the user's ankle joint (as indicated by the corresponding arrow). Further, a portion of the tensile force is directed upward towards the waist anchor 212 along the anterior surface of the user's leg to the connection element 224. This portion of the force is offset from the center of rotation of the hip joint and can apply torque in the flexion direction around the user's waist, as indicated by the corresponding arrow.

[0063] ​FIG. 12E shows an embodiment of a soft exosuit 200 that includes two modules - a first module that includes the configuration shown in FIG. 12A and a second module that includes the configuration shown in FIG. 12C. The displacement of cable 320a of the first module pulls the waist anchor 212 and the leg anchor 214 towards each other, as indicated by the corresponding straight arrows, thereby generating a tensile force that delivers a derived torque in the extension direction near the user's hip joint, as indicated by the corresponding curved arrows. The displacement of cable 320b of the second module pulls the foot anchor 218 and the connection element 224 towards each other, as indicated by the corresponding straight arrows, thereby generating a tensile force that delivers a derived torque in the plantarflexion direction near the user's ankle joint, as indicated by the corresponding curved arrows. A portion of the tensile force is directed upward towards the waist anchor 212 along the front of the user's leg to the connection element 224, thereby delivering a derived torque in the flexion direction near the user's waist, as indicated by the corresponding curved arrows. Motors 310a, b of the actuation system 300 may be actuated at different times in various embodiments to deliver assistance for the movement of the corresponding joints.

[0064] Referring to FIG. 13, the soft exosuit 200 can be configured to distribute a portion of the force generated by the operating system 300 to various parts of the user's body. The distribution of a portion of the force to different parts of the user's body can improve the comfort level of the exosuit user, which can in turn serve to generate the amount of force that should be increased, particularly for improved movement assistance at the ankles. For example, for comfort, assume that the amount of force that can be supported by the user's waist is limited to about 250 N. An embodiment of the soft exosuit 200 having only one anchor member 210 in addition to the waist anchor 212 can be limited to an overall assisting force of about 500 N if the load is evenly distributed between the two anchors. Of course, variations in the materials, construction, and fit of the soft exosuit 200 can lead to uneven distribution, but for the current example, assume a 50% / 50% distribution. Embodiments of the soft exosuit 200 further include shin anchors 216. If the force is evenly distributed among these three anchor elements, as a result, the overall force will be divided approximately 33% / 33% / 33% and delivered to the corresponding parts of the body. In the current example, this would be approximately 167 N for each of the user's waist, shin, and heel. Since 167 N is below the assumed comfort threshold of 250 N at the waist, the overall force that can be generated in the suit can be increased by an equivalent amount (i.e., up to about 750 N in total). However, it should be recognized that the specific construction of the soft suit 200 and how it interfaces with the body can affect the distribution. For example, as shown in FIG. 13, rather than an even distribution, about 30%-50% of the force generated by the operating system 300 can be distributed to the user's shin, resulting in only about 50%-70% of the force of the actuator supported by the user's waist. Nevertheless, this can allow additional force (e.g., about 150 N - 250 N) to be delivered to the soft exosuit 200 near the ankles while maintaining the same loading on the user's waist as before (e.g., 250 - 350 N) (e.g., for a total of 500 N). This surplus force can be useful in providing improved ankle movement assistance.In addition, when the force is distributed among multiple parts of the user's body, the force on each element is reduced, thereby reducing the pressure on the skin and underlying tissues and improving the user's comfort. In other embodiments of the soft exosuit system 800, a force of about 300 N to about 450 N may be applied to the calf of the user of the soft exosuit. These are purely hypothetical examples, and it should be understood that the specific force magnitudes and distribution ratios described herein are for illustrative purposes only.

[0065] In various embodiments, the force distribution can be controlled, at least in part, by adjusting the various components of the soft exosuit system 200. For example, to provide a stiffer interface, the cable 220 and the connection element 224 can be tightened to the Y-strap 219 coupled to the calf anchor 216 to apply a larger portion of the overall suit force to the user's calf. Similarly, in another embodiment, the Y-strap 219 can be loosened to provide a looser interface, thereby applying a smaller portion of the overall suit force to the user's calf. Dividing the load between the connection elements 224a, b can also serve to increase the user's comfort.

[0066] Sensor 400 Referring to FIGS. 14A and 14B, the exosuit system 100 may further include one or more sensors 400.

[0067] ​One or more sensors 400 can include any sensor or combination of sensors suitable for measuring the tensile forces generated by the operating system 300 within the soft exosuit 200 (referred to herein as the "force sensor 410") in various embodiments. For example, in an embodiment, the force sensor 410 can include a load cell. For ease of explanation only, the force sensor 410 may be referred to herein as a load cell, but it is not intended that the present disclosure be limited to this particular embodiment of the force sensor 410, and it should be recognized that any other suitable sensor / sensor arrangement that can serve a similar purpose may be used instead. The force sensor 410 can be positioned anywhere on or within the soft exosuit 200 that is suitable for measuring the tensile forces acting on the corresponding portion of the soft exosuit 200. In an embodiment, the force sensor 410 can be positioned between or proximate to the junctions between components of the soft exosuit 200 to measure the tensile force applied by one component to another. For example, referring to FIG. 14A, the force sensor 410 can be positioned at the interface between the cable 320 and the waist anchor 212 to measure the tensile force applied by the cable 320 to these components of the soft exosuit 200. As another example, referring to FIG. 14B, the force sensor 410 can be positioned at the interface between the connection element 224 and the cable 320 to measure the tensile force applied by the cable 320 to these components of the soft exosuit 200. Of course, the exosuit system can include any suitable number, type, and arrangement of force sensors 410 for measuring tensile forces in the soft exosuit 200 for any given application.

[0068] Referring further to FIGS. 14A and 14B, one or more of the sensors 400 may include any sensor or combination of sensors suitable for measuring the movement of the body's joints, such as the orientation (i.e., angle) of the joint and whether the joint is rotating, in which direction, and how fast (i.e., the derivative of the angle or angular velocity), and / or whether it is accelerating, in various embodiments. Such sensors are referred to herein as "motion sensors 420". Exemplary sensors may include, among others, inertial measurement units (IMUs), gyroscopes, and accelerometers. The motion sensor 420 may be located on the body or on / in the soft exosuit 200 in any suitable arrangement for taking such measurements. Those skilled in the art will recognize that any suitable number, type, and arrangement of sensors may be utilized as long as the movement of the joints can be accurately measured.

[0069] FIG. 14A is a schematic diagram showing an exemplary arrangement of a motion sensor 420 for measuring the movement of a user's leg. In this embodiment, as shown, the IMU 420 may be placed on the user's leg. The IMU 420 may be configured to measure one or a combination of the angle and velocity of the leg (or calculate from other measurements taken by the IMU). The angle and velocity of the leg may be used as an approximation of the angle and velocity of the hip, respectively, in situations where the movement of the torso is negligible compared to the movement of the leg. Of course, in another embodiment, an IMU or equivalent sensor may be positioned on the user's torso to provide measurements of the movement of the torso that relate to the aforementioned measurements of the movement of the leg. The relative differences between the measured angles and velocities of the torso and leg may be used to determine the angle and velocity of the hip joint in such situations. respectively.

[0070] Figure 14B is a schematic diagram showing an exemplary arrangement of a motion sensor 420 for measuring the movement of a user's ankle. In this embodiment, two or more gyroscopes can be used to determine the angle and speed of the ankle joint. In particular, in the embodiment, the first gyroscope 420a may be positioned on the lower part of the user's shin (e.g., the shin of the boots the user is wearing), and the second gyro 420b may be positioned on the user's foot (e.g., on the string under the boots the user is wearing). Since the gyroscopes 420a,b measure the angular velocity of the foot and shin respectively, the rotational speed of the ankle joint can be calculated by subtracting the measured angular velocities contained in the signals from the two gyroscopes 420a,b in a manner similar to that for determining the movement of the hip joint by associating the movements of the torso and thigh. Of course, those skilled in the art will recognize that any suitable number, type, and arrangement of motion sensors 420 can be utilized as long as the movement of the joint can be accurately measured and / or determined.

[0071] One or more of the sensors 400 may further include, in various embodiments and without limitation, any sensor or combination of sensors suitable for detecting walking-related events such as heel strike of the user or toe-off of the user. Such sensors are referred to herein as "walking event sensors 430". In one embodiment, one or more of the motion sensors 420 may be further configured for this role. In other embodiments, the walking event sensor 430 may include, among other things, separate sensors such as foot switches, foot pressure sensors, potentiometers, and magnetometers. Systems and methods for detecting heel strike using measurements from one or more gyroscopes and / or IMUs are described in more detail in PCT / US2014 / 040340, filed May 30, 2014, which is hereby incorporated by reference. The walking event sensor 430 may be located on the body or on / within the soft exosuit 200 in any suitable arrangement for taking such measurements. Those skilled in the art will recognize that any suitable number, type, and arrangement of sensors can be utilized as long as a particular walking event can be accurately detected.

[0072] Control system 500 The present disclosure is further directed to one or more embodiments of a control system 500 configured to manage and control other components of the exosuit system 100 to provide motion assistance to a user. In particular, the control system may monitor natural body movements driven by muscles in real time and then direct the actuation system 300 to generate a tensile force in the soft exosuit 200 to deliver assistance to enhance the force generated by the muscles to move the joints and thereby reduce the metabolic cost for performing the movement. For that purpose, embodiments of the control system 500 may be configured to control the timing and duration of the assistance provided and the magnitude of the assistance generated by the soft exosuit 200.

[0073] Referring to FIG. 15, an exemplary embodiment of the control system 500 may include one or more data acquisition boards for receiving information from the sensors 400, one or more motor controllers for controlling the actuation system 300, and one or more processors configured to process the information received from the data acquisition boards and the motor controllers to manage the generation of assistance via the soft exosuit 200.

[0074] The control system 500 may be configured to command the operation of the soft exosuit 200 in a manner that delivers power to one or more body joints of a user of the exosuit system 100 to assist the natural movement of those joints. In particular, the control system 500 may command the motor 310 to actuate the cable 320 to a position suitable for generating a force in the corresponding component of the soft exosuit 200. As the body joints of the exosuit user rotate, the soft exosuit 200 may apply a derived torque, thereby generating additional power in the body joints to assist the natural joint movement. In other words, the soft exosuit 200 may deliver assistive power according to the formula P joints to assist the natural joint movement. In other words, the soft exosuit 200 may deliver assistive power according to the formula P assist =τ exosuit *ω joint wherein, in the formula, P assistrepresents the power delivered by the soft exosuit 200 to the body joints, τ exosuit is generated around the body joints by the operation of the soft exosuit 200 represents the torque, ω joint represents the angular velocity of the joint in the assisted movement.

[0075] In certain embodiments, the control system 500 may be configured to operate the exosuit 200 to deliver a desired amount of power to the joints during a user's single or repeated step. This may be achieved, in embodiments, by varying the magnitude of the force generated in the suit exosuit depending on the angular velocity of the joint movement. In this specification, such an approach is referred to as "power-based force control" when the motor controller directly controls the force applied by the system to the joint to generate a desired amount of power during a single or repeated step depending on the rotational angle of the joint, or "power-based position control" when used in the context of controlling the position of the actuator to generate a force suitable for delivering the desired power to the joint during a single or repeated step depending on the angular velocity of the joint. In other embodiments, the control system 500 may be configured to operate the soft exosuit 200 to deliver a desired torque near the joint rather than a desired power profile. As a result, different amounts of assistive power may be delivered depending on the angular velocity of the joint during movement. In this specification, such an approach is referred to as "force control" when directly controlling the force generated in the soft exosuit 200, or "force-based position control" when used in the context of controlling the position of the actuator to generate the desired force or derived torque. The present disclosure may describe various operations of the soft exosuit 200 in the context of only one of power-based force / position control or force / force-based position control, but is not intended to be so limited. Those skilled in the art will recognize that, where appropriate, the control system 500 may utilize any of these approaches.

[0076] When torque is applied in the same or a similar direction as the joint movement, positive power can be generated. Conversely, when the derived torque opposes the movement of the joint, negative power is generated. Since the human body can use energy to generate both positive and negative power, both the positive and negative power generated by the exosuit may be considered auxiliary power depending on the specific application. For example, the assistance of positive power may desirably increase the strength of specific movements of specific joints and even the entire body, and / or reduce the fatigue associated therewith. As will be described in more detail later in the disclosure, positive power assistance during plantar flexion of the ankle joint can help propel the user's body forward during movements such as walking, brisk walking, running, etc. Similarly, positive power assistance during lumbar extension can serve a similar purpose. As used herein, positive power may correspond to the active force applied by the exosuit system to assist in such propulsion in various embodiments. As an additional example, the negative power generated by the exosuit during dorsiflexion of the ankle joint can be used to assist in decelerating the body and body joints after heel strike prior to the propulsion movement. For example, as will be described in more detail later in the disclosure, as a result, the system generates a moment at the joint simultaneously with the underlying muscles and tendons, which spans from one heel strike to the next for a given leg. For example, in the case of ankle plantar flexion assistance, by applying force in the region of positive power of the walking cycle, the system assists the gastrocnemius muscles and tendons to push the body upward and forward. By providing assistance during the negative power phase, the suit assists the gastrocnemius in absorbing power as it extends, while the center of mass of the body drops downward and forward over the grounded foot. In another embodiment, such as lumbar extension, the control system detects walking events in real time and assists the lumbar extensors when the lumbar spine changes direction from flexion to extension at the start of positive power generation and when the center of mass drops downward and forward over the grounded foot and the underlying muscles begin to generate work at the joint to accelerate the hip joint and push the body forward. The control method described herein detects multiple walking events in real time and the underlying muscles and tendons are Detect when additional assistance is needed to propel the body forward, thereby enabling adaptation to different individuals' walking styles and different mobility activities. The methods presented herein may be applied to assist joints in different directions and additional joints during mobility and during other activities not explicitly described in this disclosure.

[0077] The control system 500 may be configured to govern the generation of assistance via commands to the operating system 300. In particular, in various embodiments, the control system 500 may command the motor 310 to move the cable 320 to a position suitable for delivering a desired force or power to the body via the exosuit 200. In an embodiment, the control system 500 may command a cable position that leaves the cable 320 slack prior to a period of passive or active assistance so as to generate little or no force within the soft exosuit 200. In another embodiment, the control system 500 may be configured to command a cable position that causes a passive force to be generated in a component of the soft exosuit 200 in response to a particular movement. This passive force may serve to apply pretension to the cable 320 and joints to enhance the effect of active assistance prior to a period of active assistance. In yet another embodiment, the control system 500 may command the motor 310 to move the cable 320 in a manner suitable for generating an active force by actively pulling components of the soft exosuit 200 towards each other. Such commands typically time the movement of the cable 320 at and / or during the start of the movement to be assisted in order to augment the natural force generated by the corresponding muscle. Generally, the more the control system shortens or increases the tension of the cable 320, the greater the magnitude of the force generated within the exosuit 200 and the greater the derived torque around the targeted body joint. Thus, the control system 500 may be configured to control the magnitude of the torque generated by the exosuit system 100 by commanding the drive motor 310 to move the cable 320 to a position sufficient to deliver a desired torque or power to the body joint, whether passively or actively.

[0078] Force and actuation profiles, generally FIG. 16A shows a representative force profile to be delivered to a user's body via the soft exosuit 200 to assist joint movement. As used herein, a force profile is a way of communicating how much force is generated by the soft exosuit 200 at various times throughout the movement assistance period. For that purpose, a force profile can communicate the magnitude of the generated force, the timing at which it is initiated, and the duration for which the force is applied. Embodiments utilizing force-based control can directly target a given force profile, while those utilizing power-based control may first derive a corresponding force profile from a desired power profile using angular velocity measurements from the motion sensor 420.

[0079] The magnitude of the force in the representative force profile of FIG. 16A may increase at the start of the assistance and grow rapidly towards the peak magnitude. The force may then reach the peak and subsequently decline at a similar rate near the end of the assistance. In an embodiment, the force profile may be generated such that the force peaks when the targeted muscle groups involved in the movement reach a maximum activity level, thereby providing a critical boost that improves maximum power and reduces metabolic energy consumption. As will be described in more detail later in this disclosure, using the force profile shown in FIG. 16A, it may assist the muscles below the leg when assisting the dorsiflexion and plantarflexion movements of the ankle joint and help propel the user forward during locomotion.

[0080] Of course, it should be recognized that the control system 500 may be configured to command the operation of the soft exosuit 200 in any suitable manner to generate any number of suitable force profiles, and the present disclosure is not intended to be limited to the above-described exemplary embodiments.

[0081] FIG. 16B shows a representative actuation profile for generating the force profile of FIG. 16A. As used herein, an actuation profile is a representation of how the actuation system 300 can be actuated at appropriate times and durations to generate a profile of a desired force or power to assist in the movement of a joint as it occurs.

[0082] As shown in FIG. 16B, the actuation profile can represent a sequence of different cable positions over the period of assistance. In this example, the cable 320 is maintained at a first position (i.e., 100 mm) for a portion of the user's gait cycle that spans between about 80% of one gait cycle and about 40% of the subsequent gait cycle. For most of this period, the commanded cable position generates little or no force, as evidenced by the force profile of FIG. 16A, and the cable 320 may be slack. However, during the period spanning between about 20% and 40% of the gait cycle, the force increases while the cable position remains at the first position. This reflects that passive forces are generated as the soft exosuit 200 acts to limit a particular movement of the joint during this time. Between about 40% and 75% of the gait cycle, the cable 320 is driven towards a second position (i.e., 150 mm) and back to the first position, creating an active force shown by the spike in FIG. 16A. The foregoing example is described for illustrative purposes only, and it should be recognized that the control system 500 can be configured to generate any number of suitable actuation profiles in accordance with the teachings of this disclosure.

[0083] In various embodiments, the control system 500 can be configured to utilize feedback from the sensors 400 to determine appropriate cable positions and the times and durations for which they should be maintained to generate a profile of a desired force or power in the soft exosuit 200, as described in more detail below.

[0084] Magnitude of actuation In various embodiments, the control system determines a suitable cable position Pos peak to generate a desired peak force F in a soft exosuit system. peak In one embodiment, the control system may estimate the corresponding cable position Pos peak using empirical data from prior tests of the soft exosuit system. For example, the control system 500 may include a look-up table, library, formula, or other predefined reference that associates various cable positions with the associated forces to be generated in the soft exosuit system. Such an approach may be compatible with wearable robot systems configured to fit the user in the same way each time the user wears the suit, but the components of the soft exosuit system may shift, stretch, or otherwise behave in a way that reduces the stiffness of the system, resulting in a smaller magnitude of the peak force actually delivered by the soft exosuit system to the user's body for a given motor position trajectory. peak In various embodiments, the control system may be configured to determine a suitable cable position Pos peak to generate a desired peak force F in a soft exosuit system.

[0085] In one embodiment, the control system may estimate the corresponding cable position Pos peak using empirical data from prior tests of the soft exosuit system. For example, the control system 500 may include a look-up table, library, formula, or other predefined reference that associates various cable positions with the associated forces to be generated in the soft exosuit system. Such an approach may be compatible with wearable robot systems configured to fit the user in the same way each time the user wears the suit, but the components of the soft exosuit system may shift, stretch, or otherwise behave in a way that reduces the stiffness of the system, resulting in a smaller magnitude of the peak force actually delivered by the soft exosuit system to the user's body for a given motor position trajectory. peak To address this, in various embodiments, the control system 500 may utilize a force-based position control strategy that repeatedly changes the cable position Pos peak using feedback from the force sensor 410 until the target peak force F peak is achieved. In an embodiment, the control system 500 may start by comparing the desired peak force that should have been delivered during the previous repeated step with the load cell measurement of the actual peak force delivered during the previous repeated step. The control system 500 then uses this information to adjust the magnitude of the actuation profile (i.e., adjust the commanded cable position Pos peak ) so that during subsequent repeated steps, the desired force and the previously

[0086] To address this, in various embodiments, the control system 500 may utilize a force-based position control strategy that repeatedly changes the cable position Pos peak using feedback from the force sensor 410 until the target peak force F peak is achieved. In an embodiment, the control system 500 may start by comparing the desired peak force that should have been delivered during the previous repeated step with the load cell measurement of the actual peak force delivered during the previous repeated step. The control system 500 then uses this information to adjust the magnitude of the actuation profile (i.e., adjust the commanded cable position Pos peak ) so that during subsequent repeated steps, the desired force and the previously peak To address this, in various embodiments, the control system 500 may utilize a force-based position control strategy that repeatedly changes the cable position Pos peak using feedback from the force sensor 410 until the target peak force F peak is achieved. In an embodiment, the control system 500 may start by comparing the desired peak force that should have been delivered during the previous repeated step with the load cell measurement of the actual peak force delivered during the previous repeated step. The control system 500 then uses this information to adjust the magnitude of the actuation profile (i.e., adjust the commanded cable position Pos peak ) so that during subsequent repeated steps, the desired force and the previously peak To address this, in various embodiments, the control system 500 may utilize a force-based position control strategy that repeatedly changes the cable position Pos peak using feedback from the force sensor 410 until the target peak force F peak is achieved. In an embodiment, the control system 500 may start by comparing the desired peak force that should have been delivered during the previous repeated step with the load cell measurement of the actual peak force delivered during the previous repeated step. The control system 500 then uses this information to adjust the magnitude of the actuation profile (i.e., adjust the commanded cable position Pos peak ) so that during subsequent repeated steps, the desired force and the previously peak To address this, in various embodiments, the control system 500 may utilize a force-based position control strategy that repeatedly changes the cable position Pos peak using feedback from the force sensor 410 until the target peak force F peak is achieved. In an embodiment, the control system 500 may start by comparing the desired peak force that should have been delivered during the previous repeated step with the load cell measurement of the actual peak force delivered during the previous repeated step. The control system 500 then uses this information to adjust the magnitude of the actuation profile (i.e., adjust the commanded cable position Pos peak ) so that during subsequent repeated steps, the desired force and the previously It can compensate for any difference between the actual force delivered during the overlapping step and the previous one. The magnitude of the actuation increases if the actual peak force of the previous overlapping step did not reach the desired peak force for that overlapping step, and decreases if the actual peak force of the previous overlapping step exceeded the desired peak force for that overlapping step. The control system can determine the corresponding cable position according to Equation (2).

[0087]

Number

[0088] In another embodiment, the control system 500 can instead monitor the real-time force feedback from the load cell 410 and adjust the force in real time by adjusting the cable position in the corresponding manner in real time.

[0089] A similar force-based position control algorithm automatically calibrates the system for a given user. In particular, at the beginning of the operation, the control system 500 increases the force to the desired level, thereby ensuring proper assistance independently of factors that can vary by the user, such as body type, build, how the suit fits, and personal comfort preferences. In various embodiments, the controller may use the load feedback to address any asymmetry that may require monitoring and correcting the forces applied to other joints.

[0090] In addition or alternatively, in various embodiments, the control system 500 can utilize a power-based position control strategy to determine the appropriate cable position for delivering a desired amount of power throughout the walking cycle. In particular, the control system 500 can first determine the actual integrated power delivered by the suit during the previous cycle. This can be achieved in an embodiment by measuring the angular velocity of the joint and the force generated by the exosuit system 200 throughout the previous cycle and integrating the product according to Equation (3).

[0091]

Number

[0092] It should be noted that the sign of the torque generated by the operation of the exosuit 200 is known from the fact that only tensile force is generated therein. The control system 500 can then compare this measured integrated power with the desired integrated power to be delivered during the previous cycle. This information can then be used to adjust the cable position for the current overlapping step if the integrated power delivered during the previous overlapping step was insufficient or exceeded the desired amount of power applied during the previous overlapping step. Such adjustment is performed according to Equation (4) in the embodiment.

[0093]

Number

[0094] Of course, it should be recognized that the adjustment of the cable position does not have to follow the proportional relationship shown in Equation (4), and those skilled in the art will recognize other suitable relationships for repeatedly adjusting the cable position to deliver the desired integrated power.

[0095] The power-based position control strategy described above can be used in connection with embodiments of an exosuit system configured to control only one of positive or negative power assist. To independently control both positive and negative power assist, embodiments of the control system 500 may utilize another power-based position control strategy in which the cable position is determined based on separate integrations of the positive and negative power portions of the motion.

[0096] In particular, the actual power delivered by the exosuit system 100 can be calculated from the measured ankle speed and the force measured by the load cell, integrated within the intervals of positive and negative power respectively, and normalized by the overlapping step time. This can be summarized in Equations (5a) and (5b).

[0097]

Number

[0098] In equations (5a) and (5b), in order to calculate the Integrated Negative Power , the initial time t step_start corresponds to the detection of heel strike, while the end time t step_start corresponds to the first time when ω joint ≥0. It should be noted that in equation (5b), in order to calculate the Integrated Positive Power, the initial time t int_start corresponds to the end time t for calculating the negative power, while the end time t int_stop corresponds to the time when ω int_stop <0 joint . It should be noted that it corresponds at that time.

[0099] Next, the control system 500 can adjust the position amplitude level of the cable commanded for each step using the two power integration values. To control the negative and positive powers respectively, the control system 500 can be configured to start pulling the cable 320 at the start of the negative power interval of the movement. By doing so, it is possible to control the negative power for the next overlapping step by adjusting the level of the pretension, while the positive power can be changed by controlling the level of the active force. For example, if the negative power integration during the previous overlapping step is smaller than desired, the controller can increase the holding position of the cable to increase the pretension for the next overlapping step. On the other hand, if the actual positive power for the previous overlapping step is larger than the desired value, the controller can reduce the amplitude of the cable position to reduce the active force for the next overlapping step. Such adjustments can be made in accordance with equations (6a) and (6b) in an embodiment.

[0100]

Number

[0101] Both force-based position control strategies and power-based position control strategies can further provide useful ways to compensate for different fit within the exosuit (e.g., due to variations in the user's physique), changes in the suit during movement (e.g., components of the suit flowing over the body, gait modification), and the frictional and damping properties of the actuating elements (e.g., cables) that vary depending on how they are routed such as losses due to bending and stretching).

[0102] In another embodiment, the control system 500 can perform "power-based force control". The control method will act in a similar manner as described in the previous paragraph, but instead of cable position, it will control the level of force during pretensioning and the active phase of gait.

[0103] The control method tracks the desired power profile in real time during the mobility of a given joint. The control system can calculate in real time the force required at the current point during the gait cycle by dividing the target power value by the speed of the joint which is the input target for low-level force control. Next, the low-level control tracks the force that the system delivers to the joint by using real-time feedback from a load cell or any other force sensing system or force estimation method.

[0104] The desired peak force or the desired integrated power In various embodiments, the user or control system 500 may adjust the level of assistance to match the level of the wearer, the application, or a combination of both factors. Examples of situations or combinations of situations in which the user or controller 500 would adjust the level of assistance include fitting assistance for different users based on weight and height. Generally, subjects with greater weight and height require a higher level of assistance to achieve the same benefit. The main activity or task performed by the user can be a factor in determining the appropriate magnitude of force to be delivered by the exosuit system 100. For example, the user or control system 500 may decide to adjust the level of assistance to conserve battery or use more battery when the wearer needs it most. In another example, the user or control system may decide to adjust the level of assistance to conserve battery or use more battery when the wearer needs it most. Different activities such as walking at a fast speed and walking uphill or carrying a heavier load may gain more from a higher level of assistance than other less strenuous activities. Additionally, the level of assistance may be set to a lower value when the device is used for the first time and increase gradually as the user is trained.

[0105] Desired peak force F peak In various embodiments, may be a predefined value set as a baseline in the control system. In an embodiment, the baseline peak force may be preset. In an embodiment, the user may be able to preselect or select the baseline peak force during use. The selection process by the user may be realized such that the user directly inputs into the control system a baseline peak force that is preferred for a given activity or feels comfortable to the user, or the user indirectly selects the baseline peak force through selection of an operation mode (e.g., low, medium, high assistance), input of one or more parameters (e.g., the weight of the user of the exosuit, a predefined individual setting), and / or other indirect selections.

[0106] Desired peak force F peak In various embodiments, the desired peak force F can be affected by the biological moment acting on the joint to be assisted. For example, as body weight increases, the biological moment acting on the body's joints typically increases for a given activity. Therefore, in order to address these variations in biological moment, it may be advantageous to adapt the amount of assistive peak force applied to various joints. Similarly, the load carried by the user, including the load of the soft exosuit itself, may affect the biological moment and can be addressed.

[0107] Referring to FIGS. 17A, 17B, and 17C, and FIGS. 18A, 18B, and 18C, the control system 500 is configured to adapt to the desired peak force and address spatio-temporal factors that also affect the biological moment acting on the joints, such as (for example) walking speed. As shown in FIGS. 17A and 18A, as the locomotion speed increases, generally, the peak magnitude of the physiological power applied to the lower back (particularly associated with lumbar extension) and the peak magnitude of the physiological power around the ankle (specifically ankle plantarflexion) increase. The same often holds true for spatio-temporal gait variables associated with other locomotor activities such as running, cycling, etc. For simplicity, the present disclosure refers to walking speed as an exemplary spatio-temporal gait variable, but it should be understood that the systems and methods disclosed herein for adapting the assist can be similarly applied based on other such spatio-temporal variables. For example, the systems and methods disclosed herein can provide adaptive assist for stride length, double support distance, cadence (also known as walking frequency), and other spatio-temporal variables.

[0108] Referring to FIGS. 17B and 18B, in various embodiments, the adjustment is applicable in the form of a multiplier. In various embodiments, this factor can be adjusted to a level proportional to the physiological moments and powers acting on the user's joints at that walking speed so as to adjust the peak assisting force or power delivered by the soft exosuit. Configured as such, the exosuit system 100 acts to substantially reduce, cancel, and even overcome the effects of these natural forces, thereby reducing the user's fatigue depending on the desired application. As shown in FIGS. 17B and 18B, the multipliers associated with the lumbar and ankle assistance can increase substantially linearly with the walking speed in a manner similar to how the physiological moments on these joints increase with the walking speeds shown in FIGS. 17A and 18A.

[0109] The adjustment factor can be applied in an embodiment to the baseline peak force that the exosuit system 100 should deliver to the corresponding joint. FIGS. 17C and 18C show, for illustrative purposes only, some exemplary adjusted peak forces that can be applied to each of the hip and ankle joints as adjusted by the multipliers of FIGS. 17B and 18B. These graphs are based on the assumption that the control system is configured to provide a baseline peak force of about 200 N to the waist and about 350 N to the ankle, although those skilled in the art will recognize that these are merely exemplary baseline forces and that any suitable baseline force can be adjusted by any suitable spatial-temporal factor in accordance with the present disclosure. As seen in FIG. 17B, for example, a slower walking speed of about 0.5 m / s results in a waist multiplier of about 0.4, which reduces the baseline peak force of 200 N to an adjusted peak force of about 80 N at that walking speed as shown in FIG. 17C. Similarly, as seen in FIG. 18B, a slower walking speed of about 0.5 m / s results in an ankle multiplier of about 0.4, which reduces the baseline ankle peak force of about 350 N to an ankle peak force of about 140 N at that walking speed according to the ankle force profile shown in FIG. 18C. On the other hand, at a faster walking speed of about 1.75 m / s, for example, the hip and ankle peak force modifiers can be about 1.4 as shown in FIGS. 17B and 18B, which increases the respective baseline peak forces of about 200 N and about 350 N to adjusted peak forces of about 280 N and about 490 N, respectively, as shown in FIGS. 17C and 18C. The exemplary multipliers given in FIGS. 17B and 18B are shown as increasing substantially linearly with the locomotion speed, although it should be recognized that the multipliers need not follow a linear relationship and may be defined in any suitable manner.

[0110] Referring to FIGS. 19A and 19B, the control system 500 can be configured to estimate a user's locomotion speed (e.g., walking speed, running speed, etc.) for use in correspondingly adjusting the magnitude of a force or power profile as described above. Referring to FIG. 19A, in an embodiment, the walking speed can be estimated, in part, by using measurements of the hip angle determined from an IMU. In particular, as shown in FIG. 19A, these measurements can be used to define the range of motion Θ of the user's hip in the sagittal plane. Next, the user's step length l can be estimated as a function of the leg length l leg and the range of motion Θ of the hip in the sagittal plane according to the following equation (7). step To be

[0111]

Equation

[0112] The leg length l leg can be a constant variable that is measured or estimated in an embodiment. For example, the control system 500 may assume a representative value based on the average leg length of a typical user, or may be configured such that the user can enter an estimated or measured length of their legs before starting the system.

[0113] Still referring to FIG. 19A, next, according to the following equation (8), the step length l step and the time per step (step time) t step (i.e., the time elapsed from the touchdown of one foot to the touchdown of the next foot) can be used to estimate the walking speed V wallking as a function of these variables.

[0114]

Equation

[0115] In an embodiment, the time per step tstep It can be measured as the period during heel strike or during any other walking event. Referring to FIG. 19A, the time taken for one step can be measured as the period during which the waist reaches the maximum flexion angle between two subsequent walking cycles. The IMU, gyroscope, or any other suitable sensor arrangement can be configured to detect heel strike or other walking events as described above. Then, the time taken for one step t step can be calculated by subtracting the time of the previously detected heel strike or other walking event from the time of the most recently detected one. Of course, the time taken for one step may be measured or estimated according to any other suitable manner known in the art.

[0116] Referring to FIG. 19B, tests were conducted to verify this approach for estimating the user's walking speed. The solid line shows the output of the speed estimation method, and the dashed line shows the walking speed as measured by the instrumented treadmill on which the user walked. As shown in FIG. 19B, the control algorithm may be able to handle a number of confounding factors such as the movement of the trunk and changes in stride length.

[0117] Of course, the appropriate magnitude of the force to be generated by the soft exosuit 200 to provide movement assistance to the user's joints may be determined according to any number of factors suitable for a given application example, and it should be recognized that the present disclosure should not be limited to any one or combination of those examples listed above.

[0118] Timing of assistance To obtain assistance for the current movement of the joint and to provide natural assistance that adapts to different motor activities and the way different users walk, the control system 500 may be configured to determine how the user is moving using inputs from various motion sensors 420 and / or gait event sensors 430 positioned on or near the body as described above, and then to determine the appropriate timing of the assistance. For that purpose, the control system 500 may monitor the measured values of the joint movement in real time and estimate the time to start the assistance when the underlying muscles and tendons are just about to do the work. Such measured values or a combination thereof may serve as a trigger for the start of the actuation (the "start trigger"). 。

[0119] The start trigger may vary depending on a given application or motor activity. In one embodiment, the detection of a specific joint movement event may be the start trigger. In particular, the movement to be assisted typically starts at a specific event such as when the angle of the joint reaches a maximum value or when the joint changes the direction of movement, so that the control system 500 may be configured to interpret such detection as the start trigger. In another embodiment, the detection of the joint reaching a specific angular velocity may be the start trigger. For example, in one application, it may be desirable to assist the movement of the joint only when the joint is moving above or below a threshold speed, as indicated by the magnitude of the measured angular velocity. In other applications, it may be desirable to provide assistance while the joint is rotating in a specific direction, as indicated by the sign of the measured angular velocity. (For example, by calculating angular derivatives to produce measurements such as velocity and / or acceleration), it should be recognized that measurements of the joint angle may be used in a similar manner. In yet another embodiment, the detection of a combination of the joint angle and angular velocity may be the start trigger. For example, in one application, it may be desirable to provide assistance up to a point during an extension movement - where the start trigger may be the detection of a combination of a specific angle representing the start of a part of the extension movement to be assisted and an angular velocity having a sign (i.e., + or -) associated with the extension movement (which may indicate an opposite flexion movement for the opposite sign).

[0120] In certain applications, it may be desirable to provide assistance to a joint only when the movement of the joint coincides with a particular movement or combination of movements of other parts of the body and / or another event associated with the movement of the body. For example, in various embodiments, the control system 500 may be configured to increase the assistance to the leg joints when the foot contacts the ground. In this way, the assistance may be tailored to those movements that help propel the user forward and thereby increase efficiency. In such cases, the start trigger may include the detection of some indication of the foot contacting the ground in addition to the detection of an indication of the movement of the joint. In an embodiment, one such detection may be the detection of heel strike. The control system 500 may be configured to detect such events from measurements collected from one or more of the sensors 430, as will be described in more detail below in the context of embodiments of the control system directed to ankle assistance. Of course, when assistance should be provided based on the movement of other joints, the control system may be configured to monitor the movement of those other joints and then detect one or more triggers necessary to initiate assistance to the joint in question.

[0121] Duration of assistance The control system 500 may further utilize measurements of joint movement to determine when to stop providing active assistance to the joint.

[0122] In various embodiments, the control system may be configured to end the assistance when the joint reaches a predetermined angle or rotational speed. For that purpose, in an embodiment, the control system may monitor real-time angle measurements and end operation when the desired angle is reached. In cases where it may be desirable to end the assistance when the movement of the joint stops or changes direction, for example, a similar process may be utilized to estimate the duration of assistance in some embodiments characterized by different triggers for ending the assistance. In an embodiment, the control system may indirectly determine the duration of assistance in a similar manner by monitoring real-time rotational speed measurements and ending operation when the measured angular velocity reaches zero.

[0123] In various embodiments, the control system monitors real-time measurements of joint angles, velocities, and / or other motion-related measurements to detect walking-related events and determine when to initiate, maintain, and terminate assistive profiles and motion assistance. The control system may use this information to estimate when the underlying muscles and tendons are just about to create torque at the joint and initiate assistance at the right time. Next, the controller may drive the motor to a first operating position suitable for generating a corresponding force magnitude. The control system continues to monitor real-time measurements of joint motion and may estimate, based on the measured rotational speed or angular derivative, when the biological muscles and tendons stop applying force to the joint in a direction in which the system cable can provide actuation, thereby making the system transparent (ending actuation) and not interfering with the muscles working in the opposite direction.

[0124] Alternatively, the control system 500 may monitor the exosuit 200 that has generated the assistive force and determine when to end the assistance by detecting a pre-defined value or a change in the force at a pre-defined rate. In various embodiments, such a change may indicate that the joint has advanced through the motion to be assisted. For example, in embodiments where the cable is maintained at a fixed position during active force generation, the force increases and / or decreases as the joint continues to move. Once the force reaches a pre-determined threshold and no longer interferes with subsequent motion, the control system 500 may be configured to detect the change in force and stop actuation. This may be the case, as will be described in more detail later, during the dorsiflexion phase of ankle motion (i.e., detecting an increase in the pretension force applied during dorsiflexion and moving the cable in an appropriate manner to assist the subsequent plantarflexion motion). The exact same effect is applicable to lumbar extension assistance (i.e., detecting a decrease in force as the leg approaches vertical) and may be applicable to other joints.

[0125]

[0126] ​ Therefore, the control system can identify the magnitude of the corresponding force to be generated at each point in the joint movement from the desired force profile, and move the cable to the corresponding position or command the desired force. Such a control system controls in real time when the operation starts and ends, and thus adapts to different walking styles or different activities of different individuals so that assistance is provided when it is advantageous for the wearer, and the assistance is stopped so that the system does not generate any force in any other situation.

[0127] As will be further described in more detail below, the control system 500 may instead be configured to estimate the duration of the joint movement or predict it in other ways. Next, the estimated duration of the joint movement to be assisted (the "joint movement duration") may be used to determine an appropriate duration (the "assistance duration") for which the exosuit system 500 can then be actuated to assist the joint. By such a strategy, the control system 500 may be able to generate a suitable operation profile before starting the operation, and accordingly the soft exosuit can be actuated without further monitoring the real-time measurement of the joint movement and detecting an end trigger indicating the end of the movement.

[0128] In other such embodiments, the control system 500 may be configured to utilize joint movement measurements from previous movement cycles to estimate the duration of the corresponding movement to come in the current movement cycle. Such a strategy can be particularly useful for assisting repetitive movements such as the kinematic movement of the leg joints when the user walks or runs. In various embodiments, such an approximation can take into account the cyclic nature of the activity to accurately predict the duration of the current movement, resulting in an operation profile (described below) that is well-suited to the desired assistance.

[0129] As an illustrative example, actuate the exosuit 200 to help pull the leg back from the bent position after the forward swing leg phase, which is typically a movement that spans about 30% of the average walking cycle. Consider a walking assistance application example in which a sea urchin control system 500 is configured. In an embodiment, the control system 500 first calculates the duration of a previous walking cycle from joint motion or other measurements taken from a cycle ahead (also referred to herein as the double support time), and then the duration of the upcoming joint motion during the current cycle can be estimated as 30% of the double support time of the previous double support time. In another embodiment, the control system 500 can estimate the duration of the upcoming joint motion in a similar manner, but rather than assuming that the motion spans approximately 30% of an average walking cycle, the control system 500 can instead determine the actual percentage over which the motion spans during a plurality of previous walking cycles to give a first approximation. Note that in this regard, the controller can be corrected later by using real-time measurements from the integrated sensors. In particular, the control system 500 can be configured to utilize joint motion measurements taken during a previous walking cycle to identify when the joint motion started and ended, and then relate them to the double support time of each of those cycles to determine the joint motion duration percentage for each previous cycle. In an embodiment, these percentages can be averaged to provide a more customized basis for estimating the duration of the joint motion to be assisted during the current walking cycle.

[0130] The double support time can be determined in any suitable manner using one or more of the sensors 400 in various embodiments. In an embodiment, the double support time can be calculated as the time elapsed during the continuous detection of characteristic events occurring in each cycle. For example, the control system 500 can measure the time elapsed between consecutive heel strikes for a given leg and define this as the double support time. As another example, the control system 500 can measure the time elapsed during the continuous detection of maximum hip flexion or extension and define this as the double support time. Methods for detecting heel strikes and maximum flexion / extension angles, as well as methods for determining the time intervals elapsed during such continuous detections, will be given in more detail later in this disclosure.

[0131] The duration of assistance may be determined from such sensor measurements in any number of suitable ways for a given application instance, and it should be recognized that the present disclosure is not intended to be limited to only those exemplary embodiments described above.

[0132] Generation of an actuation profile As described above, the control system 500 may be configured to determine the desired peak force that the exosuit system 100 should generate, identify when the joint movement to be assisted begins, and estimate the duration of the joint movement. In various embodiments, the control system 500 may utilize this information to generate an actuation profile, according to which the exosuit system 100 may be actuated to deliver the desired movement assistance to the joints.

[0133] In various embodiments, the control system 500 may be configured to pre-generate an actuation profile for the start of the movement. In one such embodiment, the control system 500 may estimate the duration of the joint movement (and thus the duration of assistance) based on the duration of a similar movement during only the previous cycle. On the one hand, such an approach may not account for any variation in when the joint movements start / start within their respective cycles - that is, if the joint movement in the current cycle starts later in the current cycle than the joint movement in the previous cycle started in the previous cycle, the estimated duration may be somewhat longer than the actual duration of the joint movement in the current cycle, and vice versa. However, on the one hand, such an approach is less complex than others and may potentially allow the control system 500 some time to prepare for the upcoming actuation. It should be recognized that in another embodiment, the control system 500 can be further adapted to address the aforementioned potential variations by modifying the duration reflected in the actuation profile when the start trigger is detected or shortly thereafter.

[0134] In various other embodiments, the control system 500 takes into account the actual start time of the movement Based on the estimation of the joint movement duration, it may be configured to generate an actuation profile at or shortly after the detection of the start trigger. In one such embodiment, the control system 500 may estimate the duration of the joint movement (and thus the assist duration) at this time using one of the aforementioned methods or any other suitable method.

[0135] Exemplary control system for assisting periodic hip joint movement FIG. 20 is a schematic diagram of an embodiment of a lumbar control architecture that initiates assistive torque to the lumbar region while maintaining the exertion of a strong force. The lumbar control system 600 may be configured to assist the hip joint to assist periodic extension movements during locomotor activities such as walking, running, and jumping. For that purpose, various embodiments of the lumbar control system 600 may be used in conjunction with any other configuration suitable for delivering torque to assist the user's lumbar extension movement in relation to the first module of the exosuit of FIG. 12A or the exosuit 200 of FIG. 12E. The lumbar control architecture may include at least a portion of the soft exosuit 200, one or more inertial measurement units (IMUs) or other suitable sensor 420 arrangements for measuring lumbar flexion and rotational speed, one or more load cells 430, and a control system 600. Pulling the cable 320 between the waist anchor 212 and the leg anchor 214 of the soft exosuit 200 may generate an assistive force that creates torque around the hip joint.

[0136] In one or more embodiments, the IMU may be worn on the user's leg (or any other suitable location for taking a given measurement) and configured to measure the movement of the human body, particularly the angle of the leg, and estimate the lumbar flexion angle. FIG. 20 shows the use of only the IMU, but embodiments of the lumbar control system 600 may use other types of kinetic and / or kinematic sensors, such as a potentiometer and an accelerometer, and / or may include additional sensors. The load cell may be a force sensor 410, such as a transducer, configured to measure the tensile force generated within the exosuit 200. Embodiments of the lumbar control system 600 may use other types of force sensors 410 instead of or in addition to the load cell.

[0137] One advantage of the lumbar control system 600 is that beneficial movement assistance can be applied independently of nearby biomechanical tasks. Many activities, such as walking, running, jumping, and stair climbing, share a similar sequence of joint movements, and the muscle groups associated with these movements can be active for a similar period of time. Therefore, many such movements share a similar initiation trigger regardless of the motor activity being performed.

[0138] The starting point of the biological lumbar extension torque can vary greatly between different subjects and between different activities. This large variability introduced the need to define the start of the applied assistance to coincide with the timing of the start of positive lumbar power rather than estimating it based on the timing of heel strike. From a biomechanical perspective, during locomotion, the lumbar extensors begin to activate slightly before the lumbar spine reaches its maximum flexion angle. By closely examining the kinetic and kinematic data of human subject data, we found that the moment of the hip joint reaches its maximum flexion almost synchronously with the start point of positive lumbar power. For this reason, we decided to use maximum lumbar flexion as a suitable gait event to determine the start timing of lumbar extension assistance.

[0139] Assistance can be provided in various embodiments when the muscles associated with movement are most active. For example, the lumbar extensors such as the hamstrings and gluteus maximus are typically activated in the most motile activities to assist with extension movements. In particular, these muscles are most active after a previous flexion movement and can assist with walking by pulling the user's waist forward over the outstretched leg. As shown in FIG. 21A, in a typical walking cycle, maximum lumbar flexion occurs at approximately 85% of the walking cycle (e.g., the trailing leg at the end of the walking cycle). The electromyogram (EMG) hamstring and EMG gluteus maximus graphs of FIGS. 21B and 21C show that the hamstrings and gluteus maximus become active after reaching maximum lumbar flexion (e.g., approximately 91% of the walking cycle for weighted walking) and become inactive at approximately 30% of the walking cycle.

[0140] Therefore, it may be advantageous to provide assistance to the lumbar extensors when it is detected that the hip joint has reached its maximum flexion angle and continue the assistance until the time when the hip joint in the user's walking has substantially recovered to the vertical angle (i.e., the leg perpendicular to the ground). FIG. 22A shows an exemplary application of force during the user's walking to assist with this movement, and FIG. 22B shows the angle of the corresponding leg of the user (which can be associated with the lumbar angle as described above) to demonstrate the timing from a biomechanical perspective of the leg.

[0141] For that purpose, in various embodiments, the lumbar control system 600 may be configured to monitor real-time joint movement measurements to detect the onset of the aforementioned lumbar extension movement - i.e., when the lumbar joint reaches its maximum flexion angle. The lumbar control system 600 may be configured to achieve this using any of the aforementioned exemplary methods or any other suitable method. For example, in an embodiment, the lumbar control system 600 may monitor real-time measurements of the angular velocity of the lumbar spine and detect a change in sign associated with the end of the lumbar flexion movement and the subsequent onset of the lumbar extension movement. In another embodiment, the lumbar control system 600 may, in a similar manner, monitor real-time measurements of the angle of the lumbar spine and detect when the magnitude associated with the flexion movement stops increasing and when the magnitude begins to decrease at the onset of the subsequent extension movement. As noted previously, this may be approximately 85% of the gait cycle.

[0142] The lumbar control system 600 may be further configured to estimate the duration of the joint movement and thus the duration for which assistance should be provided. The lumbar control system 600 may be configured to achieve this using any of the aforementioned exemplary methods or any other suitable method. For that purpose, in an embodiment, the lumbar control system 600 may, as described above, be configured to estimate the user's current double support time and estimate how long it takes for the hip joint to reach the end of the movement to be assisted. As noted previously, the end of the lumbar extension movement to be assisted - i.e., when the angle of the lumbar spine is substantially vertical with respect to the ground - may be approximately 30% of the gait cycle for weight-bearing overground walking. The double support time may be estimated in various embodiments using the double support time from the previous cycle. In one such embodiment, the lumbar control system 600 may be configured to determine the double support time as the time elapsed during successive detections of the estimated maximum lumbar flexion angle.

[0143] The waist control system 600, in various embodiments, may be configured to determine a desired peak force and an associated cable position for generating it using any of the foregoing exemplary methods or any other suitable method. For example, the waist control system 600 may be programmed to deliver a baseline peak force of about 300 N in an exosuit to assist with waist movement. Of course, this baseline force can be adjusted to account for any number of factors, such as spatial-temporal factors (e.g., locomotion speed) or the user's body weight / load, as previously described, particularly in the context of FIGS. 17A, 17B, and 17C. The waist control system 600 may then determine an appropriate cable position for delivering the desired peak force using the foregoing force-based position control algorithm or any other suitable method. For example, in an embodiment, the waist control system 600 may first determine the actual peak power generated in the suit during the previous cycle and then, according to Equation (2), determine the cable position for the current cycle by multiplying the cable position of the previous cycle by the ratio of the currently desired peak force to the measured peak force from the previous cycle.

[0144] Additionally or alternatively, in various embodiments, the waist control system 600 may then, as described above, utilize the power-based position control algorithm to determine an appropriate cable position for delivering a desired integrated power to the hip joint. For example, in an embodiment, the waist control system 600 may first determine the actual integrated power delivered to the hip joint by the exosuit system 100 during the previous cycle as a function of the force generated through the assistance provided during the previous cycle and the angular velocity of the hip joint. Next, the waist control system 600 may determine the cable position for the current cycle by multiplying the cable position of the previous cycle by the ratio of the currently desired integrated power to the integrated power measured during the previous cycle, according to Equation (4).

[0145] FIG. 23B shows a representative force for assisting hip joint extension movement. FIG. 23C shows an actuation profile for assisting hip joint extension movement. FIG. 23A shows a representative lumbar angle measurement value measured by the IMU.

[0146] These profiles can be generated by a soft exosuit for lumbar control architecture, as described with respect to FIG. 20. The generation of the trajectory in the lumbar control architecture unit can be adapted to generate an actuator trajectory that generates a desired force by pulling cable 320 throughout the assistance period. The start time of actuation (e.g., the rising edge of the trapezoidal profile) is set to the estimated maximum lumbar flexion angle from the IMU, as described above. In an embodiment, the size of the trapezoidal profile can be modified to address any difference between the commanded size and the actual size experienced during previous overlapping steps, as described above with reference to force-based position control. In particular, the lumbar control system 600 can monitor the maximum assist peak force (or integrated peak power) of the last overlapping step and adjust the size of the trapezoidal profile for the current overlapping step accordingly. The size increases if the assist peak force (or integrated peak power) of the last overlapping step does not reach the desired peak force range (or integrated peak power range), and decreases if it exceeds the peak force range (or integrated peak power range). The release time of actuation (e.g., the falling edge of the trapezoidal profile) is approximately 40% of the walking cycle, which is calculated by the overlapping step time unit using the last overlapping step time detected from the IMU. The trapezoidal profile can be automatically adjusted for one or more overlapping steps to adapt to changes in the environment and maintain the exertion of the desired force.

[0147] The control system 600 can also generate an actuation profile using the "generateProfile" module by addressing the overlapping step time, the measured force, and the desired force. Actu The actuator / controller unit may receive the measured force at a predefined frequency (e.g., 100 Hz) and store it in a memory (e.g., a buffer). Using the measured forces from one or more previous walking cycles, the actuator / controller unit may generate a position profile based on the duration of the previous double support time, the desired force, and the previously measured forces. The measured force may be based on the calculation of the maximum assist peak force of the last double step.

[0148] The actuator / controller unit implements a "generateProfile" module and may correct the position amplitude of the assist force using the measured force (e.g., positionHipAmplitude = positionHipAmplitude * desired_force / measured force). In an embodiment, the "generateProfile" module may generate the position profile as a trapezoidal position profile having a specified amplitude and duration of the double support time. The falling edge or release of the actuation of the trapezoidal position profile may occur at about 40% of the walking cycle. As an example of a simple profile, the "generateTrapezoid" module may generate a trapezoid as a position profile having a rising edge with a slope of "s1" at about 85% of the walking cycle and a falling edge with a slope of "s2" at about 40% of the walking cycle. The falling edge of the trapezoidal position profile may be adjusted by setting the "percentageOff" variable.

[0149] [Table 2]

[0150] The actuation plot in FIG. 23C shows that the actuator activates when the actuator is at about 91% of the walking cycle or after reaching maximum lumbar flexion, and applies the desired assisting force. As previously described, since the start of actuation is based on real-time detection of the maximum lumbar flexion angle, this ratio is not fixed, but rather is tailored to each individual or each activity, which is a significant improvement compared to prior art methods that rely on a fixed actuation profile as a function of the walking cycle. The actuator continues to apply the desired assisting force until the release time of actuation, which is about 30% of the walking cycle in FIG. 23C. It should be recalled that the lumbar control system 600 can receive the leg angle and the leg rotation speed in real time from sensors such as an IMU and accurately apply one or more actuation profiles based on the leg angle and the leg rotation speed.

[0151] By determining the operation timing and duration in such a manner, it should be recognized that the control system 600 can function to avoid operating the soft exosuit system in a way that can adversely affect the natural movement of the hip joint. In other words, an embodiment of the lumbar control system 600 can function to ensure that assistance is provided only when the joint is actually undergoing the movement for which assistance is desired. This is a significant improvement over existing systems. For example, if the user suddenly stops before reaching the movement to be assisted, the start trigger will not be detected and no operation will occur. Thus, the user will not be troubled by unnecessary operation of the suit, such as remaining standing still after a sudden stop. For a soft exosuit, when the system is inactive or in a slack mode, that is, when the control system ensures that the cable is extruded and there is no tension on the cable, the interference between the inertia of the system and the joint is negligible, so the user will not feel any perceivable force if the system does not start operating. For other current technology exoskeletons such as a rigid system, since a large inertia is applied to the biological leg, rather than remaining inactive when the force on the joint is not desired to limit normal movement, measures such as force control will be required so that the control system tracks the movement of the joint without generating force. As another example, if the user suddenly decelerates, any undesirable operation can be limited to only the duration of the assistance provided - that is, the estimated assistance duration can be slightly longer than the actual joint movement duration, and as a result, assistance longer than actually necessary for that cycle will be provided. Of course, the lumbar control system 600 can understand that a significant change in the double support time has occurred, adjust the duration for the next cycle, and thereby limit any adverse effects to only the current cycle.

[0152] Furthermore, the waist control system 600 can be configured to detect in real time events that can change the timing at which assistance should be provided, in various embodiments. One such situation can occur when the user is avoiding an obstacle in their path, such as by straddling a rock or log. When this happens, the user may bend their waist significantly more than they would during normal locomotion to clear and straddle the obstacle.

[0153] FIG. 24 is a schematic diagram of an embodiment of a waist control architecture including an obstacle avoidance detection unit. As described above, the assist torque can be applied to the waist as a restoring force that acts to pull the leg from a flexed (i.e., lifted) state toward an extended (i.e., vertical) state. In an embodiment, the assist torque on the waist can be applied starting from the moment of maximum waist flexion, as detected by the waist controller and / or IMU. However, it should be noted that in real-world use, the user may need to deviate from their normal walking pattern to avoid an obstacle in their path, such as a rock or log. When straddling or otherwise moving to avoid such an obstacle, the user's waist may bend excessively - i.e., bend beyond the maximum flexion angle typically associated with the user's normal range of motion (ROM) during walking. In such a case, if the waist controller starts assisting the waist at the normal time (i.e., when the typical maximum flexion angle is detected), the soft exosuit may apply this restoring force at an inopportune time - i.e., while the user is bent excessively to straddle the obstacle. This can interfere with the user's movement rather than assist it.

[0154] Therefore, the waist control architecture can be configured to detect such obstacle avoidance movements via measurements from the IMU and delay the time at which it provides waist assistance in response to avoid such interference. In particular, referring to FIGS. 25A, 25B, and 25C, various In some embodiments, obstacle avoidance detection can be achieved via real-time monitoring of the lumbar angle data collected by the IMU against the historical lumbar angle data measured over a number of past steps. In particular, during normal walking, the lumbar spine has a normal ROM in the sagittal plane that spans between a typical maximum flexion angle of about 65 degrees and a maximum extension angle of about 140 degrees, as shown by the horizontal boundary lines surrounding the lumbar angle curve in FIG. 25A. The system can be configured to calculate a moving average of this ROM over a series of previous steps (e.g., over the previous 5 steps) as a normal reference for the movement of the wearer's lumbar spine.

[0155] Next, lumbar angle data can be monitored in real time for movements associated with obstacle avoidance maneuvers. In particular, when the wearer pulls their knee upwards (i.e., hyperflexes their lumbar spine) and swings their forward foot over an obstacle, the measured lumbar angle can greatly exceed the maximum flexion angle associated with the user's normal ROM. This period of hyperflexion is shown in FIG. 25A to be between approximately 1.5 seconds and approximately 1.75 seconds. Here, the lumbar angle exceeds the flexion boundary of the normal ROM by approximately 35 degrees, clearly indicating that the user is engaging in a movement that would be hindered by the application of the restoring force at that time. Of course, any suitable threshold for detecting obstacle avoidance movements and delaying the application of assistive force may be defined. In an embodiment, such a threshold can be set as a predetermined percentage by which the real-time lumbar angle measurement must exceed the maximum flexion boundary of the normal ROM. For example, the obstacle avoidance adjustment can be triggered only when the lumbar angle exceeds the normal flexion boundary by 25%. In an embodiment, such a threshold can be based on the standard deviation of the maximum lumbar angle measurements over several past walking cycles. For example, the obstacle avoidance algorithm can be triggered when the real-time lumbar angle measurement exceeds this standard deviation by a predetermined factor such as 2 times or more. In an embodiment, the threshold can be a factor of the natural variability known in the walking of a typical user. For example, in the field of biomechanics, it is known that the user's ROM can vary by approximately 3% to approximately 4% under normal walking conditions.

[0156] In this way, when the real-time waist angle measurement value exceeds this variability by a predefined factor such as two times or more, the obstacle avoidance algorithm can be triggered. Those skilled in the art will recognize that it may be advantageous to define any such threshold as being high enough to avoid false triggers, but low enough so that when it can significantly affect performance and the comfort of the wearer, the restoring force is surely not applied. As described above, for other current technology exoskeletons such as rigid systems, rather than remaining inactive when no force is desired on the joints, it would be required that, by using measures such as force control, the control system tracks the movement of the joints without generating force if an obstacle is detected.

[0157] Waist assistance can be delayed for any suitable duration after detection of an obstacle avoidance movement. In an embodiment, the system 600 can be configured to delay assistance until the waist returns within the boundaries of the normal ROM, as shown in FIGS. 25B and 25C. In particular, referring to FIG. 25A, note that in this graph, at about 1.5 seconds, the waist angle exceeds the normal ROM flexion boundary. The waist angle then reaches a peak (i.e., maximum hyperextension) at about 1.6 seconds and returns within the normal ROM range at about 1.75 seconds. As shown in FIG. 25C, it is at this time when the waist angle returns within the normal ROM range that the system commands the actuation of the corresponding waist assistance cable (e.g., the one connecting the waist belt and the leg wrap) in the soft exosuit. As a result, the cable then applies a force near the waist, as shown in FIG. 25B. In an embodiment, the system can be configured to delay assistance until the leg corresponding to the far side of the crossed obstacle touches the ground. This can be determined through detection of heel strike by the corresponding leg after hyperextension. Such a measure can, on the one hand, make it more certain that the restoring force is not applied inappropriately, but on the other hand, it may delay assistance beyond the critical time when it is desired - i.e., when the wearer uses their own leg to pull their body over the obstacle. Of course, the present disclosure relates to obstacle avoidance operations It is not intended to be limited to any particular duration during which lumbar assistance may be delayed during motion detection.

[0158] Table 3 below is a lumbar control algorithm that triggers actuation at maximum knee flexion and stops it at the vertical position of the leg. The low-level control is a position control trapezoidal profile. The magnitude of the assistance that can be at the peak position is adjusted step by step based on the peak force measured in the previous step. In the case of excessive knee flexion, the timing at which actuation starts is delayed. The magnitude of the assisting force is also adapted based on the walking speed and the weight of the subject.

[0159] [Table 3-1]

[0160] [Table 3-2]

[0161] The foregoing has been discussed in the context of providing assisted lumbar torque via forces associated with the activation of the gluteus maximus and hamstrings, but it should be recognized that a similar control system may be provided to provide assisted lumbar torque in a similar manner via forces associated with the activation of other leg muscles such as the quadriceps.

[0162] In various embodiments, the control system may be configured to utilize lumbar angle and rotational speed measurements to provide an assisting torque during the period when the quadriceps are active (by actuating a Bowden cable that is likely directed along the front of the leg rather than the back, as explained in the context of FIG. 12B, even though it is in the opposite direction).

[0163] An exemplary control system for assisting periodic ankle joint motion FIG. 26 is a schematic view of an embodiment of an ankle control system 700 that assists the ankle joint during locomotion while maintaining robust performance. The ankle control system 700 can be configured to apply an assistive torque to the user's ankle to assist in the periodic ankle plantarflexion movement during locomotive activities such as walking, running, and jumping. For that purpose, various embodiments of the ankle control system 700 can be used in connection with the exosuit system of FIGS. 12C, 12D, and 12E and with any other configuration suitable for assisting the plantarflexion movement of the user's ankle.

[0164] Referring to FIG. 27, for a given leg, the exosuit generates a moment at the ankle simultaneously with the underlying muscle during 30 - 60% of the gait cycle from one heel strike to the next. During this stage of walking, the tibialis muscles and tendons push the body upward and forward. First, the tibialis absorbs power by stretching as the body's center of mass drops downward and forward onto the foot placed on the ground. After about 50% of the gait cycle, this absorbed power is returned to the body as the tendons and ligaments elastically rebound. The tibialis and lumbar muscles contract actively to complement this returned power with additional energy.

[0165] The control method may behave in a similar manner and enable different techniques for absorbing and transmitting power in this manner by detecting gait events in real time to estimate when to transition from power absorption to generation. Initially, an actuator (pretension force) that is held at a fixed length is used, and as the body falls forward, the material of the exosuit itself stretches and the tissue under the suit contracts. This induces tension in the suit and absorbs power from the body. After the period of biological power absorption, the suit elastically retreats and returns energy to the body. This is complemented by an actuator that provides an active force starting at the point in the gait cycle where the biological ankle joint changes from power absorption to power generation and propels the body upward and forward.

[0166] The ankle control system 700 generates assistance based at least in part on the detection of heel strike and speed-related events within the same step. To that end, the ankle control system 700 may comprise one or more sensors (a "rotation sensor") configured to measure the angular velocity of the ankle, as previously described in the context of Figure 14B. In various embodiments, the sensors may comprise two or more gyros positioned and configured on the exosuit to perform both real-time detection of heel strike and measurement of ankle speed.

[0167] For that purpose, in various embodiments, the ankle control system 700 may be configured to monitor real-time ankle joint kinematic measurements to detect the onset of stance plantarflexion - i.e., when the ankle first changes direction from dorsiflexion to plantarflexion after heel strike. The ankle control system 700 may be configured to achieve this using any of the exemplary methods described above or any other suitable method. For example, in an embodiment, the ankle control system 700 may first monitor real-time measurements from a gyro (or IMU or other suitable sensor) to detect heel strike, thereby ensuring that the foot is on the ground and undergoing a "stance" motion. The ankle control system 700 may continue to monitor real-time measurements of ankle angular velocity to detect a zero crossing in the measured angular velocity of the ankle, indicating that the ankle joint has stopped dorsiflexion and started plantarflexion.

[0168] The ankle control system 700 may be further configured to estimate the duration of ankle stance plantarflexion and thus the duration for which assistance should be provided. The ankle control system 700 may be configured to achieve this using any of the exemplary methods described above or any other suitable method. For that purpose, in an embodiment, the ankle control system 700 estimates the user's current double support time to determine how It can be configured to estimate how long it takes. Similar to the manner in which the waist control system 700 can determine the double-step time using a waist angle buffer, the ankle control system 700 can determine the double-step time using a stance ankle angular velocity buffer. In particular, since the ankle angular velocity measurements are sampled at a known frequency (e.g., 100 Hz), the number of stance ankle angular velocity measurements taken during continuous heel strike detection is directly related to the time elapsed during that period. That is, the double-step time can be calculated by dividing the number of stance ankle angular velocity measurements taken by the sampling frequency. The stored stance ankle angular velocity data can be streamed from the memory all at once so that the double-step time can be calculated at each detection of heel strike and the process can be repeated during subsequent cycles. Next, the joint movement duration can be estimated as described above using the double-step time (the double-step time of the previous cycle or the average of the double-step times of multiple previous cycles).

[0169] In various embodiments, the ankle control system 700 can be configured to determine the desired peak force and the associated cable position for generating it using any one or any other suitable method of the exemplary methods described above. For example, the ankle control system 700 can be programmed to deliver a baseline peak force of about 300 N in the exosuit to assist the stance ankle plantarflexion movement. Of course, this baseline force can be adjusted to account for any number of factors such as spatial-temporal factors (e.g., locomotion speed) as described in the context of FIGS. 18A, 18B, and 18C or, in particular, the user's body weight / load as described above. The ankle control system 700 can then determine the appropriate cable position for delivering the desired peak force using the force-based position algorithm described above or any other suitable method.

[0170] Additionally or alternatively, in various embodiments, the ankle control system 700 may utilize a power base position control algorithm to determine an appropriate cable position for delivering a desired integrated power to the hip joint as described above. The desired power may be adjusted to account for spatial-temporal factors (e.g., locomotion speed) as described in the context of FIGS. 18A, 18B, and 18C or any number of factors such as, among others, the user's body weight / load as described above.

[0171] In an embodiment, the ankle control system 700 may then determine the actual integrated power delivered to the ankle joint by the exosuit system 700 during a previous cycle as a function of the force generated through the assistance provided during the previous cycle and the angular velocity of the ankle joint. There are two distinct intervals where the biological ankle power is negative (30% - 50% of the gait cycle) and positive (50% - 70% of the gait cycle) during the stance phase. The integrated positive power and the integrated negative power may be calculated according to equations (5a) and (5b), and the corresponding active and pretension cable positions may be calculated according to equations (6a) and (6b), respectively.

[0172] By determining the operating timing and duration in such a manner, the control system 700 can function to avoid activating the soft exosuit system 100 in a manner that could adversely affect the natural movement of the ankle joint. In other words, embodiments of the ankle control system 700 can function to ensure that assistance is provided only when the joint is actually undergoing the movement for which assistance is desired. This represents a significant improvement over existing systems. For example, if the user suddenly stops during a dorsiflexion movement of the foot, heel strike and perhaps subsequent zero ankle velocity will be detected, however, if the ankle does not continue into a plantarflexion movement of the foot, a zero crossing may not occur. In such a case, a complete start trigger does not occur and activation does not begin. Similarly, if the user suddenly stops during a plantarflexion movement, a start trigger may be detected and activation may begin, but it will immediately stop when the plantarflexion movement of the foot stops at the moment of the stop. In this way, the user does not get stuck with unwanted activation of the suit, for example, remaining standing still after a sudden stop. As another example, if the user suddenly decelerates, any unwanted activation can be limited to only the duration of the assistance provided - that is, the predicted assistance duration can be slightly longer than the actual joint movement duration, and as a result, more assistance is provided than is actually necessary for that cycle. Of course, the ankle control system 700 can understand that a significant change in the double support time has occurred and adjust the duration for subsequent cycles, thereby limiting any adverse effects to only the current cycle.

[0173] In various embodiments, the ankle control system 700 can be further configured to provide negative power assistance to the ankle in addition to the aforementioned positive power assistance. Biomechanically, during the walking cycle, there are distinct negative power intervals and positive power intervals for the ankle joint. FIGS. 28A, 28B, and 28C show regions of pretension and active forces.

[0174] Figures 29A, 29B, and 29C show the relationship between joint movement, commanded cable position, and derived force / power. The ankle control system 700, in various embodiments, can be configured to maintain the cable at a pre-tension position such that dorsiflexion movement of the ankle joint causes the soft exosuit to apply a torque in the opposite direction, thereby generating negative power at the ankle joint during dorsiflexion movement. This negative power can serve to apply pre-tension to the ankle joint and the cable, enhancing the effectiveness of the assistance provided during subsequent propulsive plantarflexion phases. As shown in FIG. 29A, the force delivered before the zero crossing contributes to negative power on the ankle joint, and the force applied after the zero crossing contributes to positive ankle power. As shown in FIGS. 29D and 29E, the ankle control system 700 adds pre-tension, which is the force passively generated by gait kinematics while the ankle control system 700 holds the motor position before the zero crossing, and generates an active force, which is the force actively generated by pulling the motor after the zero crossing. By independently controlling the peaks of the pre-tension and the active force, the ankle control system can independently control the positive and negative power applied to the ankle.

[0175] The walking cycle starts when the heel touches the ground. Heel strike can be detected by a foot switch and / or using the foot and / or tibia gyroscopes of the ankle control system. During the lift-off phase, as the foot rotates and the heel is lifted off the ground, the speed of the ankle joint is measured in real time using two gyroscopes on the foot and tibia. As shown in FIGS. 29A and 29E, in phase 1 of the ankle suit force chart, a relatively slow passive force increases to provide a negative power resistance. After the zero crossing and in phase 2, as shown in FIGS. 29A and 29E, a relatively fast force rise provides a positive power assist. Thereafter, no force is applied during the swing phase. In an embodiment, the ankle control system may monitor the ankle speed for the second subsequent zero crossing after heel strike as an indicator of when to stop positive power assist. This second zero crossing corresponds to the return of the ankle to its normal position during the swing phase after lift-off.

[0176] One advantage of the use of the ankle control system 700 is that the delivery assist is based on real-time measurements rather than using information about previous step counts or defining an assist profile based on the walking percentage. The ankle control system adapts to speed and changes in different biomechanical activities in real time without relying on past information. Additionally, the control applies force at the appropriate time rather than applying force late.

[0177] It is certainly contemplated that the timing and magnitude of ankle assist can be adjusted in response to the detection of obstacle avoidance movements, but it should be recognized that in various embodiments such adjustments are not necessary to avoid untimely application of the restoring force. As described above, according to embodiments of the present disclosure, ankle assist can be triggered by the detection of heel strike and continue as a subsequent plantar flexion rotational movement. This typically does not occur during obstacle avoidance movements until the corresponding leg swings over the obstacle and lands on the far side of the ground. Thus, the ankle control system as configured moves the user forward after the obstacle has been cleared by the corresponding leg. No assisting force will be applied until the assisting force is desired again to propel the movement.

[0178] Table 4 below shows how the controller unit can receive and store in a memory (e.g., a buffer) ankle angular velocity data at a predetermined frequency (e.g., 100 Hz, or any frequency suitable for monitoring joint movement with sufficient fidelity to provide the desired assistance). The controller unit can detect heel strike from this data using the shown "isHeelStrike" module and can detect the first zero crossing using the shown "detectZeroCrossing" module. If the current ankle angular velocity is greater than zero (i.e., has the sign associated with plantarflexion movement) and the previous angular velocity is less than its threshold (i.e., has the sign associated with dorsiflexion movement), the "detectZeroCrossing" module returns a true logical value. Otherwise, the module returns a false logical value. In an embodiment, the corresponding true logical value can be interpreted as a start trigger indicating that plantarflexion assistance should begin.

[0179] Still referring to Table 4, the ankle control system 700 can determine a suitable cable position, referred to as ANKLE_OFFSET in Table 4, where the cable can be positioned to generate a desired pre-tensioning force (or desired integrated negative power or "INP") on the ankle during dorsiflexion of the foot. As shown, using a power-based position algorithm, the pre-tension cable position can be adjusted by the ratio of the desired INP to the current INP in an attempt to deliver the desired integrated negative power to the ankle during dorsiflexion. Similarly, the ankle control system 700 can determine a suitable cable position, referred to as positionAnkleAmplitude in Table 4, where the cable can be positioned to generate a desired force (or desired integrated positive power or "IPP") on the ankle during plantarflexion of the foot. As shown, using a power-based position algorithm, the cable position can be adjusted by the ratio of the desired IPP to the measured IPP to assist with plantarflexion of the foot in an attempt to deliver the desired integrated positive power to the ankle during plantarflexion.

[0180]

Table 4-1

[0181]

Table 4-2

[0182]

Table 4-3

[0183] As mentioned above, it should be recalled that hip flexors such as the quadriceps can also be most active during the heel-off plantarflexion movement of the ankle. Therefore, the ankle control system 700 can be modified to be used to control various embodiments of the exosuit in providing lumbar flexion assistance to help propel the user forward. The ankle control system 700 can also be used to simultaneously control the provision of flexion assistance to the corresponding hip joint in relation to embodiments of the exosuit configured to transmit an actuating load between the ankle and the hip, such as those shown in FIGS. 12D and 12E.

[0184] In various embodiments, separate controllers may be used for each leg of the user. That is, controller L may primarily be responsible for monitoring and providing assistive movement to one or more joints of the left leg, and a separate controller R may primarily be responsible for that of the right leg. These controllers may operate completely independently of each other or communicate with each other to any suitable degree. In an embodiment, controllers L and R may pass load information from their respective load cells, such that, for example, the system may compare the two and adjust the assistive force applied to each leg to balance them as desired. In an embodiment, substantially more information may be exchanged, particularly if there is an asymmetry in the functionality of a leg (or its joint) that can affect the assistance to be provided to the opposite leg. Of course, a single controller may handle all the control.

[0185] Exemplary embodiments of lumbar and ankle control systems and methods In certain embodiments of the present disclosure, a method for assisting hip joint movement is provided. The method includes determining a desired peak force to be generated by a wearable robot system during a user's current gait cycle; generating an actuation profile according to which the wearable robot system is to be actuated to generate the desired peak force; monitoring real-time measurements of the hip joint angle to detect when the hip joint reaches its maximum flexion angle; and in response to detecting that the hip joint angle has reached the maximum flexion angle, actuating the wearable robot system according to the actuation profile to assist the user's hip joint extension movement. In certain embodiments, the desired peak force is a predetermined baseline force. In certain embodiments, the actuation profile defines the position of an actuator of the wearable robot system configured to generate a corresponding force at a given point during the user's current gait cycle. In certain embodiments, the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by the desired peak force. In certain embodiments, the actuation assists the extension movement of the body joints. In certain embodiments, the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by the desired peak force.

[0186] In certain embodiments, determining a desired peak force further comprises estimating a speed at which a user is moving, at least in part based on a range of motion of the hip joint and a measured value of the length of the user's corresponding leg, and adjusting a predetermined force by a predetermined correction rate associated with the estimated speed at which the user is moving. In certain embodiments, estimating a speed at which a user is moving further comprises determining a range of motion of the user's hip joint from at least one measured value of the angle or rotational speed of the hip joint, estimating a user's stride length based on the range of motion and the length of the user's leg, monitoring a measured value of the angle of the hip joint to determine a time taken for one step of the user, and calculating an estimated speed at which the user is moving by dividing the stride length by the time taken for one step. In certain embodiments, the predetermined correction rate is associated with different physiological moments acting on the hip joint at different speeds.

[0187] In certain embodiments, generating an actuation profile further comprises measuring a peak force generated by the wearable robotic system during at least one previous gait cycle of the user, comparing the measured peak force generated during at least one previous gait cycle to a desired peak force to be generated during at least one previous gait cycle, and adjusting an amplitude of the actuation profile to address a difference between the measured peak force and the desired peak force to be generated during at least one previous gait cycle. In certain embodiments, the position of the actuator increases from a first position to a second position, and the second position is configured to generate a desired peak force in the wearable robotic system. In certain embodiments, the increase in the actuator position occurs when a trigger event is detected, at least in part based on real-time measurements of joint movement. In certain embodiments, the second position is maintained for most of the actuation profile. In certain embodiments, the position of the actuator later decreases from the second position.

[0188] In one embodiment, the method further comprises ending the operation of the wearable robot system when the measured angle of a joint of the body reaches a predetermined angle, where the predetermined angle is the angle of the joint corresponding to when the user's leg is substantially perpendicular to the ground during the current walking cycle. In one embodiment, the method further comprises estimating the period elapsed between the start of the operation and a predetermined percentage of the walking cycle based on the overlapping step time of the previous walking cycle, and ending the operation at the end of the period, where the predetermined percentage is about 40% of the overlapping step time.

[0189] In one embodiment, the method further comprises determining the average maximum flexion angle of the hip joint over a plurality of previous walking cycles, detecting that the angle of the hip joint during the current walking cycle exceeds the average maximum flexion angle over the plurality of previous walking cycles by a predetermined threshold, and delaying the start of the operation until after the angle of the hip joint during the current walking cycle has returned below the average maximum flexion angle over the previous walking cycles.

[0190] In certain embodiments of the present disclosure, a wearable robot system for assisting a user's hip joint movement is provided, the system comprising at least one sensor adapted to monitor real-time measurements of the hip joint angle to detect when the hip joint reaches its maximum flexion angle, and at least one processor adapted to obtain computer-executable instructions stored on a non-transitory medium, the computer-executable instructions, when executed by the at least one processor, causing the wearable robot system to determine a desired peak force that the wearable robot system should generate during the user's current walking cycle, create an operating profile according to which the wearable robot system is operated to generate the desired peak force, detect when the hip joint angle reaches its maximum flexion angle, and in response to detecting that the hip joint has reached its maximum flexion angle, operate the wearable robot system according to the operating profile to assist the extension movement of the user's hip joint. In certain embodiments, the desired peak force is a predetermined baseline force. In certain embodiments, the operation assists the extension movement of the body joints. In certain embodiments, the computer-executable instructions, when executed by the at least one processor, cause the wearable robot system to determine the average maximum flexion angle of the hip joint over a plurality of previous walking cycles, detect that the hip joint angle during the current walking cycle has exceeded the average maximum flexion angle over a plurality of previous walking cycles by a predetermined threshold, and delay the start of the operation until after the hip joint angle during the current walking cycle has returned below the average maximum flexion angle over the previous walking cycles.

[0191] In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to at least estimate the speed at which the user is moving based at least in part on the range of motion of the hip joint and the measured value of the length of the corresponding leg of the user, and adjust a predetermined force by a predetermined correction rate associated with the estimated speed at which the user is moving, thereby determining a desired peak force. In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to at least determine the range of motion of the user's hip joint from at least one measured value of the angle or rotational speed of the hip joint, estimate the user's stride length based on the range of motion and the length of the user's leg, monitor the measured value of the angle of the hip joint to determine the time taken for one step of the user, and divide the stride length by the time taken for one step, thereby estimating the estimated speed at which the user is moving. In one embodiment, the predetermined correction rate is associated with different physiological moments acting on the hip joint at different speeds.

[0192] In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to measure, using at least one second sensor, the peak force generated by the wearable robot system during at least one previous walking cycle of the user; compare the measured peak force generated during at least one previous walking cycle with a desired peak force to be generated during at least one previous walking cycle; and adjust the amplitude of the actuation profile to address the difference between the measured peak force and the desired peak force to be generated during at least one previous walking cycle, thereby generating an actuation profile. In one embodiment, the position of the actuator increases from a first position to a second position, and the second position of the actuator generates a desired peak force in the wearable robot system. In one embodiment, the increase in the actuator position occurs when a trigger event is detected based at least in part on real-time measurements of joint movement. In one embodiment, the second position is maintained for most of the actuation profile. In one embodiment, the position of the actuator later decreases from the second position.

[0193] In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to terminate operation when the measured angle of the body joint reaches a predetermined angle. In one embodiment, the predetermined angle is the angle of the joint corresponding to when the user's leg is oriented substantially perpendicular to the ground during the current walking cycle.

[0194] In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to estimate the period elapsed between the start of operation and a predetermined percentage of the walking cycle based on the overlapping step time of the previous walking cycle, and to terminate operation at the end of the period. In one embodiment, the predetermined percentage is about 40% of the overlapping step time.

[0195] In one embodiment, the system further comprises an actuator configured to generate a corresponding force in the wearable robot system at a given point in the user's current walking cycle, and the actuation profile defines the position of the actuator. In one embodiment, the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by a desired peak force.

[0196] In one embodiment, a method of assisting ankle joint movement is disclosed, the method comprising determining a desired peak force that the wearable robot system should generate during the user's current walking cycle, generating an actuation profile according to which the wearable robot system can be actuated to deliver the desired peak force to the user's body, detecting the user's heel strike, monitoring a real-time measurement of the rotational speed of the user's ankle after detection of heel strike to detect a first change in the direction of the measured rotational speed of the ankle joint, and in response to detecting the first change in the direction of the measured rotational speed of the ankle joint, actuating the wearable robot system according to the actuation profile to assist plantarflexion of the user's ankle joint. In one embodiment, the desired peak force is a predetermined baseline force. In one embodiment, the actuation profile defines the position of an actuator of the wearable robot system configured to generate a corresponding force in the wearable robot system at a given point in the user's current walking cycle. In one embodiment, the derived torque generated near the ankle joint by the operation of the wearable robot system acts in coordination with the movement of the ankle joint to apply positive power to the ankle joint to assist plantarflexion of the ankle joint. In one embodiment, the derived torque helps to propel the user forward. In one embodiment, the derived torque generated near the ankle joint by the operation of the wearable robot system acts in coordination with the movement of the ankle joint to apply positive power to the ankle joint to assist plantarflexion of the ankle joint. In one embodiment, the derived torque helps to propel the user forward.

[0197] In one embodiment, determining a desired peak force further comprises estimating the speed at which the user is moving based at least in part on the range of motion of the hip joint and a measured value of the length of the user's corresponding leg, and adjusting a predetermined force by a predetermined correction rate associated with the estimated speed at which the user is moving. In one embodiment, the predetermined correction rate is associated with different physiological moments acting on the ankle joint at different speeds. In one embodiment, estimating the speed at which the user is moving further comprises determining the range of motion of the user's hip joint from at least one measured value of the angle or rotational speed of the hip joint, estimating the user's step length based on the range of motion and the length of the user's leg, monitoring a measured value of the angle of the hip joint to determine the time taken for one step of the user, and calculating the estimated speed at which the user is moving by dividing the step length by the time taken for one step.

[0198] In one embodiment, generating an actuation profile further comprises measuring the peak force generated by the wearable robotic system during at least one previous gait cycle of the user, comparing the measured peak force generated during at least one previous gait cycle with the desired peak force to be generated during at least one previous gait cycle, and adjusting the amplitude of the actuation profile to address the difference between the measured peak force and the desired peak force to be generated during at least one previous gait cycle. In one embodiment, the first position of the actuator is configured such that the wearable robotic system applies a force that increases proportionally to the ankle joint during at least a portion of the movement of the ankle joint that occurs between heel strike and a first change in the direction of the measured rotational speed of the ankle joint. In one embodiment, the applied force derives a torque that applies negative power to the ankle joint during the corresponding movement against the movement of the ankle joint. In one embodiment, the derived torque serves to impart a pretension to the ankle joint during the corresponding dorsiflexion movement.

[0199] In one embodiment, the position of the actuator increases from a first position to a second position, and the second position is configured to generate a desired peak force in the wearable robot system. In one embodiment, the increase in the actuator position occurs when a trigger event is detected based at least in part on real-time measurements of joint movement. In one embodiment, the second position is maintained for most of the operating profile. In one embodiment, the second position is maintained in the operating profile for a duration corresponding to an estimated duration of joint movement to be assisted during the current walking cycle. In one embodiment, the position of the actuator later decreases from the second position. In one embodiment, the estimated duration of joint movement to be assisted during the current walking cycle is based at least in part on measurements of the rotational speed of the joint during the previous walking cycle.

[0200] In one embodiment, the method further comprises ending the operation of the wearable robot system when a measured rotational speed of the ankle joint later reaches a predetermined speed. In one embodiment, the predetermined speed is approximately zero.

[0201] In one embodiment, the method further comprises estimating a period that elapses between the start of operation and a predetermined percentage of the walking cycle based on the overlapping step time of the previous walking cycle, and ending the operation at the end of the period.

[0202] In one embodiment, determining the desired peak force includes measuring the force generated by the wearable robot system during at least one previous walking cycle of the user, and monitoring real-time measurements of the rotational speed of the user's ankle to determine the first in the direction of the measured rotational speed of the ankle joint Detecting a second change in the direction of the measured rotational speed of the ankle joint after the change of 1, and calculating the integrated positive power generated by the wearable robot system during the period from the detected first change in the direction of the measured rotational speed of the ankle joint to the detected second change in the direction of the measured rotational speed of the ankle joint. The integrated positive power is determined by multiplying the measured force by the corresponding measured rotational speed of the ankle joint. Determining the desired peak force includes comparing the integrated positive power measured during at least one previous walking cycle with the desired integrated positive power to be generated during at least one previous walking cycle, and further adjusting the predetermined amplitude of the operation profile to address the difference between the measured integrated positive power and the desired integrated positive power generated during at least one previous walking cycle.

[0203] In one embodiment, determining the desired peak force includes measuring the pretension force generated by the wearable robot system during at least one previous walking cycle of the user, calculating the integrated negative power generated by the wearable robot system during the period from the detection of heel strike to the detected first change in the direction of the measured rotational speed of the ankle joint by multiplying the measured pretension force by the measured rotational speed of the ankle joint, comparing the integrated negative power measured during at least one previous walking cycle with the desired integrated negative power to be generated during at least one previous walking cycle, and further adjusting the predetermined amplitude of the operation profile to address the difference between the measured integrated negative power and the desired integrated negative power generated during at least one previous walking cycle.

[0204] In one embodiment, a wearable robot system for assisting a user's ankle joint movement is provided. The system includes at least one sensor adapted to monitor real-time measurements of the rotational speed of the user's ankle and detect a first change in the direction of the measured rotational speed of the ankle joint after detection of heel strike, and at least one processor adapted to obtain computer-executable instructions stored in a non-transitory medium. When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to determine a desired peak force that the wearable robot system should generate during the user's current gait cycle, generate an operating profile according to which the wearable robot system can be operated to deliver the desired peak force to the user's body, detect the user's heel strike, detect a first change in the direction of the measured rotational speed of the ankle joint, and in response to detecting the first change in the direction of the measured rotational speed of the ankle joint, operate the wearable robot system according to the operating profile to assist the plantarflexion movement of the user's ankle joint.

[0205] In one embodiment, the desired peak force is a predetermined baseline force. In one embodiment, when the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to determine the desired peak force by at least estimating the speed at which the user is moving based at least in part on the range of motion of the hip joint and measurements of the length of the corresponding leg of the user, and adjusting a predetermined force by a predetermined correction rate associated with the estimated speed at which the user is moving.

[0206] In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to determine, at least, a range of motion of the user's hip joint from at least one measurement of the angle or rotational speed of the hip joint, estimate the user's step length based on the range of motion and the length of the user's leg, monitor a measurement of the angle of the hip joint to determine the time taken for one step of the user, and calculate an estimated speed at which the user is moving by dividing the step length by the time taken for one step, thereby estimating the speed.

[0207] In one embodiment, a predetermined correction factor is associated with different physiological moments acting on the ankle joint at different speeds.

[0208] In one embodiment, the system further comprises an actuator configured to generate a corresponding force in the wearable robot system at a given point in the user's current gait cycle, and the actuation profile defines the position of the actuator.

[0209] In one embodiment, when the computer-executable instructions are executed by at least one processor, the wearable robot system is caused to measure, at least, a peak force generated by the wearable robot system during at least one previous gait cycle of the user, compare the measured peak force generated during at least one previous gait cycle with a desired peak force to be generated during at least one previous gait cycle, and adjust the amplitude of the actuation profile to address the difference between the measured peak force and the desired peak force to be generated during at least one previous gait cycle, thereby generating the actuation profile.

[0210] In one embodiment, the position of the actuator increases from a first position to a second position, and the second position is configured to generate a desired peak force in the wearable robot system.

[0211] ​ In certain embodiments, an increase in the actuator position occurs when a trigger event is detected based at least in part on real-time measurements of joint movement.

[0212] In certain embodiments, the second position is maintained for most of the actuation profile. In certain embodiments, the second position is maintained in the actuation profile for a duration corresponding to an estimated duration of joint movement to be assisted during the current gait cycle.

[0213] In certain embodiments, the estimated duration of joint movement to be assisted during the current gait cycle is based at least in part on measurements of the rotational speed of the joint during the previous gait cycle.

[0214] In certain embodiments, the position of the actuator later decreases from the second position. In certain embodiments, the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by a desired peak force.

[0215] In certain embodiments, when computer-executable instructions are executed by at least one processor, the wearable robotic system is caused to terminate operation when a measured rotational speed of the ankle joint later reaches a predetermined speed. In certain embodiments, the predetermined speed is approximately zero.

[0216] In certain embodiments, when computer-executable instructions are executed by at least one processor, the wearable robotic system is caused to estimate a period elapsed between the start of operation and a predetermined percentage of the gait cycle based on the overlapping step time of the previous gait cycle, and to terminate operation at the end of the period.

[0217] In one embodiment, the derivative torque generated near the ankle joint by the operation of the wearable robot system acts in cooperation with the movement of the ankle joint to apply positive power to the ankle joint and assist the plantar flexion movement of the ankle joint. In one embodiment, the derivative torque helps to propel the user forward.

[0218] In one embodiment, the first position of the actuator is such that the wearable robot system generates a force that increases proportionally to the ankle joint during at least part of the movement of the ankle joint that occurs between heel strike and the first change in the direction of the measured rotational speed of the ankle joint. In one embodiment, the applied force derives a torque that applies negative power to the ankle joint during the corresponding movement against the movement of the ankle joint. In one embodiment, the derivative torque serves to impart a pre-tension to the ankle joint during the corresponding dorsiflexion movement.

[0219] In one embodiment, when computer-executable instructions are executed by at least one processor, the wearable robot system is caused to measure at least the force generated by the wearable robot system during at least one previous walking cycle of the user, and to calculate the integrated positive power generated by the wearable robot system during the period from the detected first change in the direction of the measured rotational speed of the ankle joint to the detected second change in the direction of the measured rotational speed of the ankle joint by multiplying the measured force by the measured rotational speed of the ankle joint. Then, compare the measured integrated positive power during at least one previous walking cycle with the desired integrated positive power to be generated during at least one previous walking cycle, and adjust the predetermined amplitude of the operating profile to address the difference between the measured integrated positive power and the desired integrated positive power to be generated during at least one previous walking cycle, thereby generating an operating profile.

[0220] System Hardware and Architecture Embodiments of the exosuit system 100 and the control systems 500, 600, and 700 can be implemented using suitable hardware and architecture. Referring to FIG. 15, the exosuit system 100 can include a controller unit that can correspond to or be a part of a drive module, an actuator / control unit, one or a combination of embodiments of the control systems 500, 600, 700, and / or other control devices used for the exosuit. The controller unit can include a processor, which can also be referred to as a central processing unit (CPU). The processor can communicate (e.g., via a system bus) and / or provide instructions to other components within the controller unit, such as an input interface, an output interface, and / or a memory. In an embodiment, the processor can include one or more multi-core processors and / or a memory (e.g., cache memory) that functions as a buffer and / or storage device for data. In other words, the processor can be part of one or more other processing components, such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), and / or a digital signal processor (DSP). FIG. 26 shows that the processor can be a single processor, but the processor is not so limited and can instead represent a plurality of processors. The processor can be configured to implement any of the methods described herein.

[0221] The memory can be coupled to the processor to operate. The memory can be a non-transitory computer-readable medium configured to store various types of sensory data and / or force-based position control algorithms. For example, the memory can include one or more memory devices including secondary storage devices, read-only memory (ROM), random access memory (RAM), and / or other types of memory storage devices. Secondary storage devices typically include one or more disk drives, optical drives, solid-state drives (SSDs), and / or tape drives and are used for non-volatile storage of data. In some cases, the secondary storage device may be used to store overflow data if the allotted RAM is not large enough to hold all working data. The secondary storage device can also be used to store programs that are loaded into RAM when such programs are selected for execution. ROM is used to store instructions and perhaps data that are read during program execution. ROM is typically a non-volatile memory device with a smaller memory capacity compared to the larger memory capacity of secondary storage devices. R RAM is used to store volatile data and perhaps computer-executable instructions such as force-based position control algorithms.

[0222] The memory can be used to store instructions for executing the various embodiments described herein. In an embodiment, the memory may comprise an actuator control module that can be accessed and implemented by a processor. Alternatively, the actuator control module can be stored and accessed within a memory (such as a cache memory) embedded within the processor. Specifically, the actuator control module can adjust and control the forces generated in the soft exosuit by controlling the length of the cable and / or adjust and control the power delivered to the ankle and / or other types of joints. In an embodiment, the memory interfaces with a computer bus to communicate and / or transmit information stored in the memory to the processor during the execution of a software program, such as a software module comprising program code and / or a computer-executable process step incorporating the functionality described herein, such as an actuator control module. The processor first loads the computer-executable process steps from a storage device, such as, for example, a memory, a storage medium / plural storage media, a removable media drive, and / or other storage devices. The processor can then execute the stored process steps to execute the loaded computer-executable process steps. Storage data, such as data stored by a storage device, can be accessed by the processor during the execution of the computer-executable process steps to instruct one or more components within and / or external to the controller unit, such as motors and mechanical components associated with the exosuit.

[0223] It is well known in the art to program and / or load executable instructions into a memory and a processor to transform an exosuit system into a non-generic, specific machine or device that controls and drives one or more motors in the exosuit. Loading software executable by a computer and / or a processor to implement instructions, real-time monitoring, and other functions is converted into a hardware implementation example by well-known design rules, and / or a general-purpose processor can be transformed into a processor programmed for a specific application. For example, the decision of whether to implement a concept in software or hardware can depend on a number of design choices, including design stability, and issues involved in the conversion from the software domain to the hardware domain in terms of the number of units to be fabricated. Often, the design is developed and tested in the form of software by well-known design rules and then transformed into an equivalent hardware implementation example in an ASIC or application-specific hardware that wire-connects the software instructions. Similar to a computer programmed and / or loaded with executable instructions, a specific machine or device may also be regarded as a non-generic, specific machine or device in the same manner as a machine controlled by a new ASIC.

[0224] The processor may be coupled to operate on an input interface configured to receive sensory data. The input interface may be configured to obtain biomechanical data such as leg angle, leg rotation speed, ankle rotation speed, and heel strike through electrical connections, optical connections, and / or wireless connections. The output interface may be an interface capable of communicating instructions used to drive various electromechanical and / or mechanical devices such as motors for the exosuit.

[0225] At least one embodiment is disclosed, and variations, combinations, and / or modifications and / or features of the embodiment made by those skilled in the art fall within the scope of the disclosure. Alternative embodiments resulting from combining, integrating, and / or omitting features of the embodiment also fall within the scope of the disclosure. When a numerical range or limitation is explicitly stated, such an explicit range or limitation can be understood to include iterative ranges or limitations of similar magnitude that fall within the explicitly stated range or limitation (e.g., about 1 to about 10 includes 2, 3, 4, etc.; greater than 0.10 includes 0.11, 0.12, 0.13, etc.). The use of the terms "about" and "substantially", unless otherwise stated, means ±10% of the number that follows. The use of the term "optionally" with respect to any element of a claim means that both options, that the element is required or alternatively that the element is not required, fall within the scope of the claim. The use of broader terms such as comprising, including, and having can be understood to support narrower terms such as consisting of, consisting essentially of, and substantially comprising. Thus, the scope of protection is not limited by the foregoing description but is defined by the subsequent claims. That scope includes all equivalents of the subject matter of the claims. Each claim is incorporated as further disclosure in the specification, and the claims are embodiments of the present disclosure.

[0226] Although several embodiments are provided in the present disclosure, it should be understood that the disclosed systems and methods can be embodied in many other specific forms without departing from the spirit and scope of the present disclosure. This example should be considered illustrative rather than restrictive, and its intention is not limited to the details given herein. For example, various elements or components may be combined or integrated in another system, or a certain feature may be omitted or not realized.

[0227] The use of the term "optionally" with respect to any element of a claim means that both options, that the element is required or alternatively that the element is not required, fall within the scope of the claim. The use of broader terms such as comprising, including, and having can be understood to support narrower terms such as consisting of, consisting essentially of, and substantially comprising. Thus, the scope of protection is not limited by the foregoing description but is defined by the subsequent claims. That scope includes all equivalents of the subject matter of the claims. Each claim is incorporated as further disclosure in the specification, and the claims are embodiments of the present disclosure.

[0228] Furthermore, the technologies, systems, subsystems, and methods described and shown separately or discretely in various embodiments may be combined or integrated with other systems, modules, technologies, or methods without departing from the scope of the present disclosure. Other items shown and discussed as being coupled to each other or directly coupled to each other or communicating with each other may be indirectly coupled or communicating through some interface, device, or intermediate component, whether electrically, mechanically, or otherwise. Those skilled in the art can envision other examples of modifications, substitutions, and changes that can be made without departing from the meaning and scope disclosed herein.

[0229] Of course, the control systems referred to above may be used independently or in cooperation with each other to deliver a combination of assistive torques to the user's waist and / or ankles using any suitable embodiment of the soft exosuit described above.

[0230] In various embodiments, separate controllers may be used for each leg of the user. That is, controller L may primarily monitor and provide assistive movement for one or more joints of the left leg, and a separate controller R may primarily do so for the right leg. These controllers may operate completely independently of each other or communicate with each other to any suitable degree. In an embodiment, controllers L and R may pass load information from their respective load cells, for example, whereby the system may compare the two and, if desired, adjust the assistive forces applied to each leg to balance each other. In an embodiment, substantially more information may be exchanged, particularly if there is an asymmetry in the functionality of a leg (or its joints) that can affect the assist to be given to the opposite leg. Of course, a single controller may handle all the control.

[0231] All patents, patent applications, and published documents cited in this specification are hereby incorporated by reference in their entirety. It should be emphasized that the above-described embodiments of the present disclosure are merely possible examples of implementations and are only described for the purpose of a clear understanding of the principles of the disclosure. The disclosure is intended to cover all such modifications and variations that come within the scope of the appended claims. Without substantially departing from the spirit and principles of the disclosure, numerous variations and modifications can be made to the above-described embodiments. It will be recognized that some of the features and functions disclosed above, or alternatives thereof, may desirably be combined in many other different systems or applications. All such modifications and variations are intended to be included herein within the scope of this disclosure as falling within the scope of the appended claims.

Claims

1. A method for assisting the movement of the hip joint, comprising: determining a desired peak force or integrated power that a wearable robot system should generate during a current gait cycle of a user; generating an operating profile according to which the wearable robot system is operated to generate the desired peak force or integrated power; monitoring real-time measurements of the angle of the hip joint to detect when the hip joint reaches its maximum flexion angle; in response to detecting that the angle of the hip joint has reached the maximum flexion angle, operating the wearable robot system according to the operating profile to assist the extension movement of the hip joint of the user.

2. The method according to claim 1, wherein the desired peak force is a predetermined baseline force.

3. Determining the desired peak force further comprises: estimating the speed at which the user is moving based at least in part on the range of motion of the hip joint and measurements of the length of the corresponding leg of the user; adjusting the predetermined force by a predetermined correction factor associated with the estimated speed at which the user is moving.

4. Estimating the speed at which the user is moving further comprises: determining the range of motion of the hip joint of the user from at least one measurement of the angle or rotational speed of the hip joint; estimating the user's stride length based on the range of motion and the length of the user's leg; monitoring measurements of the angle of the hip joint to determine the time taken for one step of the user; calculating the estimated speed at which the user is moving by dividing the stride length by the time taken for one step.

5. The method according to claim 3, wherein the predetermined correction factor is associated with different physiological moments acting on the hip joint at different speeds.

6. The method according to claim 1, wherein the operating profile defines the position of an actuator of the wearable robot system configured to generate a corresponding force in the wearable robot system at a given point in the current gait cycle of the user.

7. Generating the operating profile comprises: Measuring the peak force generated by the wearable robot system during at least one previous gait cycle of the user; Comparing the measured peak force generated during the at least one previous gait cycle with a desired peak force to be generated during the at least one previous gait cycle; The method according to claim 2, further comprising adjusting an amplitude of the actuation profile to address a difference between the measured peak force and the desired peak force to be generated during the at least one previous gait cycle.

8. The method according to claim 7, wherein the position of the actuator increases from a first position to a second position, and the second position is configured to generate the desired peak force in the wearable robot system.

9. The method according to claim 8, wherein the increase in the position of the actuator occurs when a trigger event is detected based at least in part on a real-time measurement of the movement of the hip joint.

10. The method according to claim 8, wherein the second position is maintained during most of the actuation profile.

11. The method according to claim 8, wherein the position of the actuator later decreases from the second position.

12. The method according to claim 6, wherein the actuation profile has a substantially trapezoidal shape so as to provide a substantially triangular force profile having a peak defined by the desired peak force.

13. The method according to claim 1, further comprising ending the operation of the wearable robot system when the measured angle of the body joint reaches a predetermined angle.

14. The method according to claim 13, wherein the predetermined angle is the angle of the joint corresponding to when the user's leg is substantially perpendicular to the ground during the current gait cycle.

15. The method according to claim 1, further comprising estimating a period elapsed between the start of the operation and a predetermined percentage of the gait cycle based on the overlapping step time of the previous gait cycle, and ending the operation at the end of the period.

16. The method according to claim 15, wherein the predetermined percentage is about 40% of the overlapping step time.

17. The method according to claim 1, wherein the operation assists the extension movement of the body joint.

18. Determining an average maximum flexion angle of the hip joint over a plurality of previous gait cycles; Detecting that the angle of the hip joint during the current gait cycle exceeds the average maximum flexion angle over the plurality of previous gait cycles by a predetermined threshold; The method according to claim 1, further comprising delaying the start of operation until after the angle of the hip joint during the current gait cycle has returned below the average maximum flexion angle over the previous gait cycles.

19. A wearable robot system for assisting movement of a user's hip joint, At least one sensor adapted to monitor real-time measurements of the angle of the hip joint to detect when the hip joint reaches its maximum flexion angle; At least one processor adapted to obtain computer-executable instructions stored on a non-transitory medium, The instructions, when executed by the at least one processor, cause the wearable robot system to, Determine a desired peak force or integrated power that the wearable robot system should generate during the user's current gait cycle, Create an operating profile according to which the wearable robot system is operated to generate the desired peak force or integrated power, Detect when the angle of the hip joint reaches the maximum flexion angle, and In response to detecting that the hip joint has reached the maximum flexion angle, operate the wearable robot system according to the operating profile to assist in extending the user's hip joint. A system.

20. The system according to claim 19, wherein the desired peak force is a predetermined baseline force.

21. The computer-executable instructions, when executed by the at least one processor, cause the wearable robot system to at least, Estimate the speed at which the user is moving based at least in part on the range of motion of the hip joint and measurements of the length of the corresponding leg of the user, Adjust the predetermined force by a predetermined correction rate associated with the estimated speed at which the user is moving, and Determine the desired peak force.

22. When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to, at least, determine the range of motion of the user's hip joint from at least one measurement value of at least one of the angle or rotational speed of the hip joint; estimate the user's step length based on the range of motion and the length of the user's leg; monitor a measurement value of the angle of the hip joint to determine the time taken for one step of the user; calculate the estimated speed at which the user is moving by dividing the step length by the time taken for one step; The system according to claim 21, which estimates the speed of the user. **Claim 23** The system according to claim 21, wherein the predetermined correction factor is associated with different physiological moments acting on the hip joint at different speeds. **Claim 24** The system according to claim 19, further comprising an actuator configured to generate a corresponding force in the wearable robot system at a given point in the user's current gait cycle, wherein the actuation profile defines the position of the actuator. **Claim 25** When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to, at least, measure, using at least one second sensor, a peak force generated by the wearable robot system during at least one previous gait cycle of the user; compare the measured peak force generated during the at least one previous gait cycle with a desired peak force to be generated during the at least one previous gait cycle; generate the actuation profile by adjusting the amplitude of the actuation profile so as to address the difference between the measured peak force and the desired peak force to be generated during the at least one previous gait cycle. The system according to claim 19, which generates the actuation profile. **Claim 26** The system according to claim 25, wherein the position of the actuator increases from a first position to a second position, and the second position of the actuator generates the desired peak force in the wearable robot system. **Claim 27** The increase in the actuator position occurs when a trigger event is detected based at least in part on real-time measurements of joint movement, the system of claim 26. **Claim 28** The system of claim 26, wherein the second position is maintained during most of the actuation profile. **Claim 29** The system of claim 26, wherein the position of the actuator later decreases from the second position. **Claim 30** The system of claim 24, wherein the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by the desired peak force. **Claim 31** The system of claim 19, wherein when the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to terminate operation when the measured angle of the body joint reaches a predetermined angle. **Claim 32** The system of claim 31, wherein the predetermined angle is the angle of the joint corresponding to when the user's leg is substantially perpendicular to the ground during the current gait cycle. **Claim 33** When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to estimate the period elapsed between the start of operation and a predetermined percentage of the gait cycle based on the overlapping step time of the previous gait cycle, and terminate the operation at the end of the period, the system of claim 19. **Claim 34** The system of claim 33, wherein the predetermined percentage is about 40% of the overlapping step time. **Claim 35** The system of claim 19, wherein the operation assists in extending the body joint. **Claim 36** When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to determine the average maximum flexion angle of the hip joint over a plurality of previous gait cycles, detect that the angle of the hip joint during the current gait cycle exceeds the average maximum flexion angle over the plurality of previous gait cycles by a predetermined threshold, and ​ The system according to claim 19, wherein the start of operation is delayed until after the angle of the hip joint during the current gait cycle has returned below the average maximum flexion angle over the previous gait cycle.

37. A method for assisting the movement of the ankle joint, comprising: determining a desired peak force or integrated power that a wearable robot system should generate during a current gait cycle of a user; generating an operating profile according to which the wearable robot system can be operated to deliver the desired peak force or integrated power to the user's body; detecting heel strike of the user; monitoring a real-time measurement of the rotational speed of the user's ankle to detect a first change in the direction of the measured rotational speed of the ankle joint after the detection of the heel strike; in response to detecting the first change in the direction of the measured rotational speed of the ankle joint, operating the wearable robot system according to the operating profile to assist plantar flexion movement of the user's ankle joint.

38. The method according to claim 37, wherein the desired peak force is a predetermined baseline force.

39. Determining the desired peak force further comprises: estimating the speed at which the user is moving based at least in part on a range of motion of the hip joint and a measurement of the length of the corresponding leg of the user; adjusting the predetermined force by a predetermined correction factor associated with the estimated speed at which the user is moving.

40. Estimating the speed at which the user is moving further comprises: determining the range of motion of the user's hip joint from at least one measurement of the angle or rotational speed of the hip joint; estimating the user's stride length based on the range of motion and the length of the user's leg; monitoring a measurement of the angle of the hip joint to determine the time taken for one step of the user; calculating the estimated speed at which the user is moving by dividing the stride length by the time taken for one step.

41. The method according to claim 39, wherein the predetermined correction rate is associated with different physiological moments acting on the ankle joint at various speeds. **Claim 42** The method according to claim 37, wherein the actuation profile defines the position of an actuator of the wearable robot system configured to generate a corresponding force in the wearable robot system at a given point in the current gait cycle of the user. **Claim 43** Generating the actuation profile further comprises: measuring peak forces generated by the wearable robot system during at least one previous gait cycle of the user; comparing the measured peak forces generated during the at least one previous gait cycle with desired peak forces to be generated during the at least one previous gait cycle; and adjusting the amplitude of the actuation profile to address a difference between the measured peak forces and the desired peak forces to be generated during the at least one previous gait cycle. **Claim 44** The method according to claim 42, wherein the position of the actuator increases from a first position to a second position, and the second position is configured to generate the desired peak force in the wearable robot system. **Claim 45** The method according to claim 44, wherein the increase in the actuator position occurs when a trigger event is detected based at least in part on real-time measurements of joint movement. **Claim 46** The method according to claim 44, wherein the second position is maintained for most of the actuation profile. **Claim 47** The second position is maintained in the actuation profile for a duration corresponding to an estimated duration of movement of the joint to be assisted during the current gait cycle. The method according to claim 44, wherein the estimated duration of movement of the joint to be assisted during the current gait cycle is based at least in part on measurements of the rotational speed of the joint during the previous gait cycle. **Claim 48** The method according to claim 47, wherein the estimated duration of movement of the joint to be assisted during the current gait cycle is based at least in part on measurements of the rotational speed of the joint during the previous gait cycle. **Claim 49** The method according to claim 44, wherein the position of the actuator later decreases from the second position. **Claim 50** The method according to claim 42, wherein the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by the desired peak force.

51. The method according to claim 37, further comprising ending the actuation of the wearable robot system when the measured rotational speed of the ankle joint subsequently reaches a predetermined speed.

52. The method according to claim 51, wherein the predetermined speed is substantially zero.

53. The method according to claim 37, further comprising estimating a period elapsed between the start of the actuation and a predetermined percentage of the walking cycle based on the overlapping step time of the previous walking cycle, and ending the actuation at the end of the period.

54. The method according to claim 37, wherein the derived torque generated near the ankle joint by the actuation of the wearable robot system acts in cooperation with the movement of the ankle joint to apply positive power to the ankle joint to assist the plantar flexion movement of the ankle joint.

55. The method according to claim 54, wherein the derived torque helps to propel the user forward.

56. The method according to claim 48, wherein the first position of the actuator is configured to apply a force to the ankle joint that proportionally increases the wearable robot system during at least a portion of the movement of the ankle joint that occurs between the heel strike and the first change in the direction of the measured rotational speed of the ankle joint.

57. The method according to claim 56, wherein the applied force derives a torque that applies negative power to the ankle joint during the corresponding movement against the movement of the ankle joint.

58. The method according to claim 56, wherein the derived torque serves to impart a pre-tension to the ankle joint during the corresponding dorsiflexion movement.

59. Determining the desired peak force comprises measuring the force generated by the wearable robot system during the at least one previous walking cycle of the user, and monitoring real-time measurements of the rotational speed of the user's ankle to detect a second change in the direction of the measured rotational speed of the ankle joint after the first change in the direction of the measured rotational speed of the ankle joint. Calculating the integrated positive power generated by the wearable robot system during the period from the detected first change in the direction of the measured rotational speed of the ankle joint to the detected second change in the direction of the measured rotational speed of the ankle joint, and the integrated positive power is determined by multiplying the measured force by the corresponding measured rotational speed of the ankle joint, and determining the desired peak force comparing the measured integrated positive power during the at least one previous gait cycle with the desired integrated positive power to be generated during the at least one previous gait cycle further comprising adjusting the predetermined amplitude of the actuation profile to address the difference between the measured integrated positive power and the desired integrated positive power generated during the at least one previous gait cycle, the method according to claim 37.

60. Determining the desired peak force measuring the pretension force generated by the wearable robot system during the at least one previous gait cycle of the user calculating the integrated negative power generated by the wearable robot system during the period from the detection of the heel strike to the detected first change in the direction of the measured rotational speed of the ankle joint by multiplying the measured pretension force by the measured rotational speed of the ankle joint comparing the measured integrated negative power during the at least one previous gait cycle with the desired integrated negative power to be generated during the at least one previous gait cycle further comprising adjusting the predetermined amplitude of the actuation profile to address the difference between the measured integrated negative power and the desired integrated negative power generated during the at least one previous gait cycle, the method according to claim 37.

61. A wearable robot system for assisting movement of a user's ankle joint, at least one sensor adapted to monitor real-time measurements of the rotational speed of the user's ankle and to detect a first change in the direction of the measured rotational speed of the ankle joint after detection of heel strike At least one processor adapted to obtain computer-executable instructions stored on a non-transitory medium, wherein when the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to determine a desired peak force or integrated power that the wearable robot system should generate during the user's current gait cycle, generate an operation profile according to which the wearable robot system can be operated to deliver the desired peak force or integrated power to the user's body, detect the user's heel strike, detect a first change in the direction of the measured rotational speed of the ankle joint, and in response to detecting the first change in the direction of the measured rotational speed of the ankle joint, operate the wearable robot system according to the operation profile to assist the plantar flexion movement of the user's ankle joint. **Claim 62** The system according to claim 61, wherein the desired peak force is a predetermined baseline force. **Claim 63** When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to, at least estimate the speed at which the user is moving, based at least in part on the range of motion of the hip joint and a measurement of the length of the corresponding leg of the user, adjust the predetermined force by a predetermined correction rate associated with the estimated speed at which the user is moving, and thereby determine the desired peak force. **Claim 64** When the computer-executable instructions are executed by the at least one processor the wearable robot system is caused to, at least determine the range of motion of the user's hip joint from at least one measurement of the angle or rotational speed of the hip joint, estimate the user's step length based on the range of motion and the length of the user's leg, monitor a measurement of the angle of the hip joint to determine the time taken for one step of the user, and calculate the estimated speed at which the user is moving by dividing the step length by the time taken for one step, and thereby estimate the speed of the user.

65. The system according to claim 63, wherein the predetermined correction rate is associated with different physiological moments acting on the ankle joint at various speeds.

66. The system according to claim 61, further comprising an actuator configured to generate a corresponding force in the wearable robot system at a given point in the current gait cycle of the user, wherein the actuation profile defines the position of the actuator.

67. When executed by the at least one processor, the computer-executable instructions cause the wearable robot system to, at least, measure a peak force generated by the wearable robot system during at least one previous gait cycle of the user; compare the measured peak force generated during the at least one previous gait cycle with a desired peak force to be generated during the at least one previous gait cycle; generate the actuation profile by adjusting an amplitude of the actuation profile to address a difference between the measured peak force and the desired peak force to be generated during the at least one previous gait cycle. The system according to claim 61.

68. The system according to claim 66, wherein the position of the actuator increases from a first position to a second position, and the second position is configured to generate the desired peak force in the wearable robot system.

69. The system according to claim 68, wherein the increase in the actuator position occurs when a trigger event is detected based at least in part on a real-time measurement of joint movement.

70. The system according to claim 68, wherein the second position is maintained for most of the actuation profile.

71. The system according to claim 68, wherein the second position is maintained in the actuation profile for a duration corresponding to an estimated duration of the movement of the joint to be assisted during the current gait cycle.

72. The system according to claim 71, wherein the estimated duration of the movement of the joint to be assisted during the current gait cycle is based at least in part on a measurement of the rotational speed of the joint during the previous gait cycle.

73. The system of claim 68, wherein the position of the actuator later decreases from the second position. **Claim 74** The system of claim 68, wherein the actuation profile is substantially trapezoidal in shape so as to provide a substantially triangular force profile having a peak defined by the desired peak force. **Claim 75** The system of claim 61, wherein when the computer-executable instructions are executed by the at least one processor, the wearable robot system terminates the operation when the measured rotational speed of the ankle joint later reaches a predetermined speed. **Claim 76** The system of claim 75, wherein the predetermined speed is substantially zero. **Claim 77** When the computer-executable instructions are executed by the at least one processor, the wearable robot system estimates a period that elapses between the start of the operation and a predetermined percentage of the gait cycle based on the overlapping gait time of the previous gait cycle, and terminates the operation at the end of the period. The system of claim 61. **Claim 78** The derived torque generated near the ankle joint by the operation of the wearable robot system acts in cooperation with the movement of the ankle joint to apply positive power to the ankle joint to assist the plantar flexion movement of the ankle joint. The system of claim 61. **Claim 79** The system of claim 78, wherein the derived torque helps to propel the user forward. **Claim 80** The first position of the actuator is configured to apply a force to the ankle joint that proportionally increases the wearable robot system during at least a portion of the movement of the ankle joint that occurs between the heel strike and the first change in the direction of the measured rotational speed of the ankle joint. The system of claim 72. **Claim 81** The applied force derives a torque that applies negative power to the ankle joint during the corresponding movement against the movement of the ankle joint. The system of claim 80. **Claim 82** The derived torque acts to impart a pretension to the ankle joint during the corresponding dorsiflexion movement. The system of claim 80. **Claim 83** When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to, at least measure the force generated by the wearable robot system during the at least one previous gait cycle of the user; calculate the integrated positive power generated by the wearable robot system during a period from the detected first change in the direction of the measured rotational speed of the ankle joint to the detected second change in the direction of the measured rotational speed of the ankle joint by multiplying the measured force by the measured rotational speed of the ankle joint; compare the measured integrated positive power during the at least one previous gait cycle with a desired integrated positive power to be generated during the at least one previous gait cycle; generate the operating profile by adjusting the predetermined amplitude of the operating profile to address the difference between the measured integrated positive power and the desired integrated positive power to be generated during the at least one previous gait cycle. The system according to claim 61, which generates the operating profile.

84. When the computer-executable instructions are executed by the at least one processor, the wearable robot system is caused to, at least measure the pretension force generated by the wearable robot system during the at least one previous gait cycle of the user; calculate the integrated negative power generated by the wearable robot system during a period from the detection of the heel strike to the detected first change in the direction of the measured rotational speed of the ankle joint by multiplying the measured pretension force by the measured rotational speed of the ankle joint; compare the measured integrated negative power during the at least one previous gait cycle with a desired integrated negative power to be generated during the at least one previous gait cycle; generate the operating profile by adjusting the predetermined amplitude of the operating profile to address the difference between the measured integrated negative power and the desired integrated negative power to be generated during the at least one previous gait cycle. The system according to configuration 61, which generates the operating profile.

85. Determining the desired integrated power comprises estimating a speed at which the user is moving based at least in part on a range of motion of the hip joint and a measured value of a length of a corresponding leg of the user; the method of claim 1, further comprising adjusting the integrated power by a predetermined correction factor associated with the estimated speed at which the user is moving.

86. The method of claim 85, wherein the predetermined correction factor is associated with different physiological moments acting on the hip joint at different speeds.

87. Generating the actuation profile comprises: measuring a force generated by the wearable robotic system during at least one previous gait cycle of the user; further comprising calculating an integrated positive power generated by the wearable robotic system during the at least one previous cycle, the integrated positive power being determined by multiplying the measured force by a corresponding measured rotational speed of the ankle joint, and generating the actuation profile further comprises: comparing the measured integrated positive power generated during the at least one previous gait cycle to a desired integrated positive power to be generated during the at least one previous gait cycle; the method of claim 1, further comprising adjusting an amplitude of the actuation profile to address a difference between the measured integrated positive power and the desired integrated positive power to be generated during the at least one previous gait cycle.

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