Biomimetics-based lightweight wearable suit and design method for biomimetics-based lightweight wearable suit

Abstract

To provide a lightweight wearable suit based on biomimetics, which can be expected to achieve effects such as light weight and system simplification through a clothing design methodology based on biomimetics, and a design method for a lightweight wearable suit based on biomimetics. [Solution] The present invention relates to a lightweight wearable suit based on biomimetics and a design method for a wearable suit based on biomimetics. More specifically, the present invention relates to a lightweight wearable suit based on biomimetics, characterized by including a suit part covering body parts from the knees to the soles of the feet, a force transmission pattern part surrounding the joints and muscles so that the driver's force is distributed to the clothing and body by imitating the tendons of the human body, and an anchor point part designed to surround the joints by imitating the ligaments of the human body.

Description

[Technical Field]

[0001] The present invention relates to a lightweight wearable suit based on biomimetics and a method for designing a lightweight wearable suit based on biomimetics. [Background technology]

[0002] Walking is the most fundamental movement in human life. Humans have always been interested in developing devices to improve their walking ability. This has led to the development of various wearable devices that improve the walking efficiency of the wearer.

[0003] In recent years, various wearable devices have been developed to improve walking efficiency. Such research has produced some noteworthy results, particularly with regard to assistive devices that initially focused on the ankle joint, as the ankle generates the highest amount of mechanical power of all human joints.

[0004] As shown in Figure 1C(a), a pneumatic exoskeleton used for ankle support achieved a 6% reduction in metabolic cost while walking with a load. Collins et al. achieved a 7.2% reduction in metabolic cost while walking with an unpowered exoskeleton adapted for ankle support (Figure 1C(b)). Quinlivan et al. achieved a reduction of approximately 23% in metabolic cost while walking assisted by a multi-joint soft exoskeleton (Figure 1C(c)).

[0005] Recently, various research groups have presented data that justifies a reduction in metabolic costs, improves the wearer's walking stability, and prevents injuries.Recently, research has been conducted not only on the reduction in metabolic costs but also on the function of improving the wearer's walking stability or preventing injuries.

[0006] Research is also being conducted to optimize conventional ankle exoskeletons to alleviate walking difficulties in people suffering from post-stroke disorders. An ankle exoskeleton design that converts between a single-motor and dual-motor actuation system has also been proposed (Figure 1C(d)).

[0007] In the future, such wearable assistive devices will be commonly used in daily life. However, despite recent technology, using wearable devices is still not easy. Most wearable devices are exoskeletons, which consist of a rigid structure attached to the body in a direction parallel to the joints.

[0008] Such exoskeleton structures are heavy and bulky, which increases inertia during walking, leading to inconvenience and increased energy consumption, making it difficult to use the exoskeleton in daily life. Furthermore, if there is misalignment between the exoskeleton joints and the human body, the exoskeleton will apply incorrect forces to the joints, hindering natural movement.

[0009] Despite the sophisticated design of exoskeletons, recent research has revealed that problems remain. Exosuit, with its clothing-like design, has recently attracted attention in the field of wearable devices. Made from fabric, Exosuit has the advantage of being light, simple, and easy to wear. It also places no restrictions on the wearer's movements. Compared to exoskeletons, Exosuit's lighter characteristics reduce metabolic loss. Considering these advantages, Exosuit can be said to be a wearable device suitable for use in everyday life.

[0010] However, despite these advantages, Exosuit has some disadvantages as a wearable device: when receiving assistive force, it easily deforms and does not transmit sufficient force to the target joint.

[0011] Various studies have been conducted to mitigate these deformation issues. Wehner et al. used multiple anchoring points to reduce power loss and minimize suit deformation (Figure 1C (e)). However, this method lacks the advantages of existing exosuits—lightweight, simple structure, and ease of wear. In their initial version, Asbeck et al. designed an ankle support exosuit that distributes support in multiple directions from the pelvis to the ankles to minimize suit deformation. The latest version of the ankle exosuit (Figure 1C (f)) alleviates the deformation issue by using an additional garment worn around the waist and special shoes with additional anchor points for support. While these designs maximize the exosuit's rigidity, the need for additional anchor points in addition to the ankle support increases the exosuit's weight and complexity. The impact of body weight on the body increases as the weight moves from the waist to the thighs, knees, and ankles. Therefore, reducing the weight and simplifying the structure of ankle support suits is crucial.

[0012] There are three ways to prevent this deformation: adding a rigid component, as shown in Figure 1A, or using both. This confirms the need for developing a soft and compact exosoot.

[0013] To mitigate deformation issues with Exosuits, bio-inspired patterning methodologies were incorporated into clothing designs. Human gait evolved over a period of over 500,000 years, from the time of the Ostralopithecus. During this period, the human anatomy evolved to efficiently walk on two legs.

[0014] If we could incorporate this optimal body structure into suit design, it would open up the possibility of producing, manufacturing, and designing suits that are lighter and more efficient than current models. There are many examples of wearable robots that have overcome their limitations through biological means.

[0015] Asbecket et al. developed a lightweight and efficient exosuit designed based on an understanding of human walking. By mimicking the wearer's skeletal structure and the ankle joint of biological limbs, a more transparent, safe, and effective architectural design of the exosuit can be achieved. Park et al. emulated the musculoskeletal system consisting of muscles, tendons, and ligaments, providing sufficient fixation to the suit without a rigid frame (Figure 1C(g)). Yang et al. developed a passive hip exosuit based on the dynamic action of hip flexor ligaments during running to improve running efficiency. Recent research has utilized biologically inspired methods not only for exosuit design but also for assistive strategies. Nuckols et al. measured muscle mechanics during walking and developed an assistive strategy based on this data (Figure 1C(h)).

[0016] Since the introduction of exosuits, wearable robots developed in the form of clothing, various robots have been developed and their effectiveness at various joints has been verified. However, most exosuits have been developed with a focus on the application of assistive force by the driver and its effects, rather than on the clothing itself. As a result, consideration has not been given to the weight of the system and how it is worn, which are important aspects of wearable robots.

[0017] The above-mentioned conventional technologies have been developed in the direction of providing a large assistive force to the wearer, and the systems are heavy or a single element is worn in a complex manner to support various parts, which has limitations such as taking a long time to put on or making the wearer feel uncomfortable. Summary of the Invention [Problem to be solved by the invention]

[0018] The object of the present invention is to solve the above-mentioned conventional problems, and to provide a lightweight wearable suit based on biomimetics and a design method for a lightweight wearable suit based on biomimetics, which can be expected to achieve effects such as lightweightness and system simplification through a clothing design methodology based on biomimetics.

[0019] Another object of the present invention is to provide a lightweight wearable suit based on biomimetic technology and a design method for a lightweight wearable suit based on biomimetic technology, in which an ankle support wearable suit is developed into a clothing form and the design is modeled after the human lower limb musculoskeletal system, particularly the muscles, ligaments, and tendons.

[0020] Another object of the present invention is to provide a lightweight wearable suit based on biomimetic technology, which is designed to mimic the knees and ankles, reflecting the movement and shape of the bones to make it easier to wear, and which is designed to maximize wearability and support efficiency by applying different clothing materials depending on the type of musculoskeletal system being mimicked, and a method for designing a lightweight wearable suit based on biomimetic technology.

[0021] Another object of the present invention is to provide a lightweight wearable suit based on biomimetics and a method for designing a lightweight wearable suit based on biomimetics that minimizes the volume and weight of the wearable suit, thereby enabling a wearable robot to be worn under everyday clothing.

[0022] Furthermore, another object of the present invention is to provide a lightweight wearable suit based on biomimetic technology and a design method for a lightweight wearable suit based on biomimetic technology, which involves understanding the shape of the human musculoskeletal system and the characteristics of each detailed element, analyzing the function and mechanism of action of each element during walking, and selecting materials and the arrangement of clothing elements based on this.

[0023] Another object of the present invention is to provide a lightweight wearable suit based on biomimetic technology and a design method for a lightweight wearable suit based on biomimetic technology, in which, when imitating ligaments that are responsible for joint stability, a design is applied that surrounds each joint, and in the case of materials, a string-shaped, inelastic clothing material is used so that the suit can fit well to the wearer when auxiliary force is applied to the suit; when imitating tendons, a shape is designed to surround the joints and muscles so that driver force is well distributed and applied to the suit and body, and a material that is difficult to stretch, such as cotton, is used; and for other parts, a material that is easy to stretch and has good breathability is used with wearability in mind.

[0024] Meanwhile, the technical problems to be achieved by the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by a person having ordinary skill in the art to which the present invention pertains from the following description. [Means for solving the problem]

[0025] The lightweight wearable biomimetic suit of the present invention is characterized by including a suit portion that covers the body parts from the knees to the soles of the feet, a force transmission pattern portion that surrounds the joints and muscles so that the driver's force is distributed to the clothing and the body by imitating the tendons of the human body, and an anchor point portion designed to surround the joints by imitating the ligaments of the human body.

[0026] The force transmission pattern portion is made of a non-elastic material.

[0027] The suit portion has an opening and is flexible and stretchable.

[0028] The suit portion includes a missing opening, covers the body part from the knee to the sole of the foot in three dimensions, and has the shape of knee socks or stockings.

[0029] The force transmission pattern has a Y-shaped pattern that starts behind the knee and continues along the calf to the ankle.

[0030] The anchor point part includes a knee anchor point which is fixed around the knee to absorb downward pulling force when walking and prevent the suit part from slipping.

[0031] The anchor point portion further includes ankle anchor points that are fixed to the sole and around the ankle to prevent the suit portion from being forcibly removed.

[0032] The anchor point portion is made of a non-elastic material.

[0033] The shoe further includes a fixing support portion connected to each of both ends of the force transmission pattern portion on one side thereof, for holding and fixing the ankle.

[0034] The force transmission pattern portion includes a connecting portion connected to the ankle anchor point and arranged longitudinally along the calf, and a strap connected to the upper end of the connecting portion and hugging the upper end of the knee.

[0035] The biomimetic lightweight wearable suit design method of the present invention is characterized by including the steps of: designing a flexible and stretchable suit part that covers the body parts from the knees to the soles of the feet; designing a force transmission pattern part made of inelastic material that surrounds the joints and muscles, imitating the tendons of the human body, so that the driver's force is distributed to the clothing and the body; and designing anchor point parts made of inelastic material that are designed to surround the joints, imitating the ligaments of the human body.

[0036] The suit portion includes a missing opening, covers the body part from the knee to the sole of the foot in three dimensions, and is designed in the shape of knee socks or stockings.

[0037] The force transfer pattern is designed to have a Y-shaped pattern that starts behind the knee and continues down the calf to the ankle.

[0038] The anchor point part is designed to have knee anchor points that are fixed around the knees to absorb downward pulling force when walking and prevent the suit part from slipping, and ankle anchor points that are fixed around the soles and ankles to prevent the suit part from being forcibly taken off.

[0039] The knee anchor point directly receives the force generated by the force transmission pattern, and the front side is designed to be made of a non-elastic material.

[0040] The ankle anchor point is designed to embrace the ankle, not to interfere with the movement occurring at the ankle joint, to serve as an anchor point, and to have enough rigidity to withstand the upward pulling force occurring at the force transmission pattern portion. [Effects of the Invention]

[0041] According to the present invention, effects such as lightweight and simplified system can be expected based on a clothing design methodology based on biomimetics.

[0042] In addition, according to the present invention, the design is largely modeled after the knees and ankles, and is designed to reflect the movement and shape of the bones to make wearing easier. Here, different clothing materials can be applied depending on the type of musculoskeletal system being modeled, thereby maximizing wearability and support efficiency.

[0043] Furthermore, according to the present invention, the volume and weight of the biomimetic designed wearable suit can be minimized, thereby making it possible to wear the wearable robot under everyday clothing.

[0044] In addition, according to the present invention, the shape of the human musculoskeletal system and the characteristics of each detailed element can be grasped, the function and mechanism of each element during walking can be analyzed, and the materials and element placement of clothing can be selected based on this.

[0045] Furthermore, according to the present invention, when imitating ligaments that are responsible for joint stability, a design that surrounds each joint is applied, and in the case of materials, a string-shaped material that is difficult to stretch is applied so that it can be designed to fit well to the wearer when auxiliary force is applied to the clothing. When imitating tendons, a shape that surrounds the joints and muscles is designed so that the driver's force can be well distributed and applied to the clothing and body, and a material that is difficult to stretch, such as cotton, is applied. For other parts, a material that is easy to stretch and has good breathability can be applied and designed to be comfortable to wear.

[0046] On the other hand, the effects obtained by the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those having ordinary skill in the art to which the present invention pertains from the following description.

[0047] The accompanying drawings in this specification illustrate preferred embodiments of the present invention and, together with the detailed description of the invention, serve to facilitate understanding of the technical concept of the present invention, and therefore the present invention should not be interpreted as being limited to the matters depicted in such drawings. [Brief explanation of the drawings]

[0048] [Figure 1] Stiffness and volume distribution map of current wearable ankle robots (This image confirms the need for new soft and compact ankle robots like kneeE-XOcks). [Figure 2] The compact design of kneeE-XOcks compared to conventional wearable ankle robots (this can be seen in the illustration comparing the volume of kneeE-XOcks with currently available wearable ankle robots). [Figure 3] Table analyzing the characteristics of conventional wearable ankle robots (Compared to conventional wearable ankle robots, kneeE-XOcks exhibits a high assistive effect, and as a result, many parts require hard plates or additional fixing points). [Figure 4]Gastrocnemius muscle activity at each stage of the walking cycle (The gastrocnemius muscle is most activated in the stage from terminal stance to pre-swing, performing hypoflexion and moving the body forward). [Figure 5] The overall structure of the kneeE-XOck is shown from the knee to the sole of the foot. (a) Because each part is a separate garment, the wearer can pull on the kneeE-XOck quickly and easily, just like wearing socks. (b) As a result, the kneeE-XOck can have an even thinner and lighter design. [Figure 6] The fixed point pattern and force transmission pattern are designed based on the influence of muscles, ligaments, and retinaculum (they support and transmit the force of the knee joint. The force transmission pattern imitates the function and shape of the gastrocnemius muscle and performs low flexion at the ankle joint. At this time, the knee fixed point and ankle fixed point prevent the knee joint from slipping out and transmit the force to the correct position. The knee fixed point imitates the function and shape of the ligaments around the patella, and the ankle fixed point simulates the function and shape of the retinaculum). [Figure 7] Diagram of components of the kneeE-XOck (designed based on biomimetic human anatomy and made from 11 types of materials that mimic the characteristics of human anatomy; Dyneema and Cordura are used for the parts of the kneeE-XOck that support and transmit force due to their high rigidity; Curmex and 3D Shell are highly breathable and cushioned, improving the comfort of the kneeE-XOck; Cobra buckles, ladder locks, webbing straps, and bias webbing connect each element of the kneeE-XOck to each other, making the kneeE-XOck a single garment; Velcro (registered trademark) and elastic cords are used to minimize unnecessary excess material of the kneeE-XOck). [Figure 8] Sizes (measured by Size Korea) for Korean adult men aged 20-39, reflecting the body shapes of subjects in their 20s and 30s (kneE-XOcks are designed to fit snugly against the body, so accurate measurements are required to maximize the wearability and support effect of kneeE-XOcks). [Figure 9]A seven-step manufacturing process diagram for kneeE-XOcks according to an embodiment of the present invention (after optimizing the mannequin to the target dimensions, each pattern is generated using the draping method, the 3D patterns obtained in this process are converted into flat patterns, and then pieces of fabric appropriate for each pattern are cut out. These are sewn together to form a single garment, and finishing work such as ironing is carried out. Finally, feedback from wearability tests is reflected to complete the kneeE-XOck). [Figure 10] Photographs of the kneeE-XOck according to an embodiment of the present invention being worn in daily life movements (the lighter and simpler design of the kneeE-XOck is an advantage in daily life, and various movement performance tests and clothing type tests show that wearing the kneeE-XOck does not hinder daily movement performance and is not limited by any type of clothing); [Figure 11] Static rigidity test of the kneeE-XOck according to an embodiment of the present invention (the most important function of the kneeE-XOcks is to transmit force to the body, as it is an ankle exoskeleton, and shows that the kneeE-XOcks can transmit force to the body without deformation); [Figure 12] (a) This is a walking test in combination with a mobile actuator, which demonstrates the advantages of the kneeE-XOck's lighter and simpler design, and (b) it can be worn under everyday clothing and operates without any strain. The result graph shows that the kneeE-XOcks can function without any problems as an ankle exoskeleton even when combined with a mobile actuator. DETAILED DESCRIPTION OF THE INVENTION

[0049] The following describes a lightweight wearable suit based on biomimetic technology and a method for designing a wearable suit according to an embodiment of the present invention.

[0050] According to an embodiment of the present invention, an exosuit that can be easily used by anyone in various environments is provided. The ankle exosuit (kneE-XOcks) 100 according to an embodiment of the present invention is designed to have a shape similar to a knee sock to cover the anatomical region from the knee to the foot.

[0051] As a result, the kneeE-XOck has a smaller and softer design than conventional ankle Exosuits, as shown in Figure 2. The design pattern of the kneeEXOck is based on the anatomy of muscles, ligaments, and tendons and is placed at the ankle-foot complex and knee joint (Figure 6). Taking into account the differences in the properties of muscles, ligaments, and tendons, a hybrid patterning technique was applied, combining fabrics with various properties (Figure 7). Compared to conventional ankle Exosuits, the hybrid patterning technique allows for a lighter and simpler structure, while also mitigating deformation of the Exosuit.

[0052] Additionally, the kneeE-XOck's compact design allows it to be worn with a variety of clothing, such as pants and shoes (Figure 10).

[0053] In the following, as an embodiment of the present invention, 1) the anatomical structure of the human foot and the function of each part are described. 2) The design pattern of the kneeEXOcks, which was influenced by the anatomical structure of the human foot, is described. 3) Based on the design pattern, the prototype production of the kneeE-XOcks according to the embodiment of the present invention is explained, with the specific fabric and production procedures explained. 4) The performance and strength of the KneE-XOck according to the embodiment of the present invention are evaluated through wearability, body protection suit rigidity, and mobile operation prototype tests. 5) Finally, the evaluated performance is compared with other state-of-the-art exosuits, and the conclusions and contributions of the present invention are summarized.

[0054] First, let's look at the anatomy and function of the human foot. Human bipedalism evolved over thousands of years. This led to the development of an anatomical structure optimized for bipedal walking, capable of efficiently transmitting force within the musculoskeletal system, which consists of muscles, tendons, and ligaments extending from the pelvis to the ankle via the knee. The pelvis and lower limbs, which comprise the 11 joints that make up only about 30% of the human body's mass, support and move the remaining 70%. Furthermore, the foot fulfills various roles, including propulsion, shock absorption, postural stability, and energy conservation.

[0055] In humans, the primary anatomical entities involved in force transmission are bones, skeletal muscles, tendons, ligaments, and retinaculums. Their primary function is to transmit the force generated by skeletal muscle contraction to bones and other structures, allowing them to move. Bones are connective tissues that form most of the skeleton. Muscles are tissues made up of muscle cells that are responsible for movement and maintaining posture through contractile movements. Tendons attach muscles to bones and are very strong. Ligaments are connective tissues that connect bones and provide joint stability or limit mobility and prevent certain movements. Finally, the retinaculum serves to anchor and stabilize tendons in their respective positions.

[0056] Inspired by these bodily elements, we designed a new ankle exoskeleton. Each of these bodily elements was recreated using fabrics and clothing materials that matched their respective characteristics. In particular, the kneeE-XOcks were created inspired by elements related to the gastrocnemius, one of the most active muscles in ankle movement. In human anatomy, during the transition from the terminal stance phase to the pre-swing phase, the gastrocnemius is activated, generating ankle plantarflexion, allowing the body to move in between (Figure 4). By studying the muscle, tendon, and ligament function, as well as the bone structure, during this gait cycle, we constructed a bioinfluence design pattern for the kneeE-XOcks that supports ankle joint movement (Figure 6).

[0057] In embodiments of the present invention, it is theorized that emulating human anatomy, which has evolved over millions of years, should result in a lighter and simpler design for the ankle exoskeleton compared to other wearable devices.

[0058] The following describes a biomimetic design pattern for ankle exoskeletons (kneE-XOcks) 100 according to an embodiment of the present invention.

[0059] First, let's explain the essential characteristics of an ankle exosuit. First, since an ankle exosuit is meant to be worn as everyday clothing, it must be slim, compact, comfortable, and have a thin design. Harvard University's cutting-edge ankle exosuit is considered a cutting-edge design due to these characteristics. However, an additional waist belt is required to prevent the exosuit from slipping and to provide an anchor point that can help counteract the assistive force. This increases the volume of the design.

[0060] As the weight and volume increase, the overall structure becomes more complex, making the ankle Exosuit difficult to put on and take off. This makes it unsuitable for everyday use. Therefore, in this embodiment of the present invention, we aim to create an ankle Exosuit that can be worn casually in everyday life by eliminating the need for a separate waist belt and making the design even slimmer and more compact. In this embodiment of the present invention, we select a knee anchor point 21 that replaces the waist anchor. With this change, we developed a new kneeE-XOcks design pattern (Figure 5).

[0061] Second, the kneeE-XOcks must not easily deform when assistive forces are applied, as deformation reduces force capacity and induces loss of force transmission. Specifically, the kneeE-XOck 100 must be designed to support the force transmitted up the calf at the ankle anchor point 22 and surround the heel.

[0062] At the same time, it must not restrict the wearer's movement. Because the kneeE-XOcks100 is designed to encircle the ankle, the range of motion (ROM) of the ankle is an important consideration for comfortable movement when wearing the kneeE-XOcks. For the ankle joint, the most important movements are hypoflexion / dorsiflexion in the sagittal plane, abduction / adduction in the lateral plane, and adduction / supination in the frontal plane.

[0063] Through the combination of these movements, the ankle generates three-dimensional body movements known as supination and pronation. These movements occur within a fixed ROM. On average, adult men between the ages of 21 and 39 have a sagittal plane range of 35.3° of hypoflexion and 38.1° of dorsiflexion, respectively. The average frontal range of adduction is 34.6°, the average frontal range of abduction is 37.5°, and the average transverse plane range of ROM is 75.9±4.1° (60.1°-107.7°). Given this range of motion, an exoskeleton should be designed to allow free movement within this range.

[0064] The required characteristics of the kneeE-XOcks100 can be summarized as follows: To maintain the benefits of an exosuit, it must be lightweight and have a simple structure. At the same time, deformation must be minimal for efficient force transmission. In addition, to make it easy to use in everyday life, it must not restrict the clothing that the user can wear, such as pants and shoes.

[0065] The following describes a biomimetic methodology for design patterns according to an embodiment of the present invention.

[0066] The kneeE-XOck100 was inspired by the human anatomical parts involved in walking (muscles, tendons, ligaments, and retinaculum). By adopting a bioinspired methodology, the goal is to replicate the shape, structure, and material properties of the human anatomy to achieve efficient walking. However, since it is impossible to replicate the shape exactly, the function is also important, allowing the most suitable components for the exoskeleton to be used (Figure 6).

[0067] The suit part 10, which corresponds to the overall design of the kneeE-XOcks 100, covers the body part from the knee to the sole of the foot in three dimensions and is shaped like knee socks or stockings (Figure 5). The suit part 10 has a blind opening 12 and a knee opening 11.

[0068] There are three main considerations in pattern design: force transmission, anchor points, and garment construction pattern. The force transmission pattern section 30 transmits the force of the protective garment, while the anchor points section 20 help ensure that the force is applied in the appropriate location (Figure 6). Finally, careful fabric selection helps to combine all elements of the kneeE-XOck into a complete garment that effectively performs the task. The bio-inspired components of the kneeE-XOck are primarily related to the transmission pattern design, which transmits the auxiliary forces that enable exosooth activation, and the anchor points, which ensure that these forces are applied in the appropriate location.

[0069] The force transmission pattern unit 30 mimics the gastrocnemius muscle and is involved in generating ankle plantar flexion moments. The gastrocnemius muscle is the most superficial muscle in the posterior compartment and the largest muscle in the foot. It consists of a medial head attached between the adductor tuberosity and the medial surface and a lateral head attached to the lateral thigh surface. The two upper ends are joined together and connected to the calcaneus tendon attached to the heel (Figure 6). The gastrocnemius muscle, with this configuration, is contracted by the calcaneal nerve to act as plantar flexor at each point or to bend the foot at the knee. The force transmission pattern unit 30 is fabricated in a Y-shape, starting from the posterior knee and extending along the calf to the ankle (Figure 6). Its biomechanical shape transmits the upper force to the ankle joint, allowing the knee to bend naturally and effectively assisting plantar flexion. The Y-shaped force transmission pattern unit 30 includes a connecting portion 31 connected to the ankle anchor point 22 and arranged lengthwise along the calf, and a strap 32 connected to the upper end of the connecting portion 31 and surrounding the upper end of the knee. The force transmission pattern unit 30 also includes fixing support portions 40 connected to both ends of the lower side of the connecting portion 31 to surround and fix the ankle.

[0070] The anchor point unit 20, which includes knee and ankle anchor points, is essential for the efficient operation of the force transmission pattern unit 30, which directly imitates the gastrocnemius muscles. Of the two anchor points, the knee anchor point 21 is fixed around the knee to absorb downward pulling force during walking and prevent the suit from slipping. The other anchor point, the ankle anchor point 22, is fixed around the sole and ankle to prevent the suit from being forcibly removed.

[0071] The knee anchor point 21 mimics the ligaments surrounding the patella of the knee joint. The area surrounding the patella consists of the patellar ligament and the lateral ligament. The patellar ligament is a continuation of the quadriceps tendon below the patella and the lateral ligament. One exists on both sides of the knee joint, and together they stabilize the hinge-like movement of the knee. These ligaments surrounding the patella are designed to mimic an O-shaped pattern so that they do not interfere with knee bending, while the knee anchor point can function as an anchor point (Figure 7). The tip of the knee anchor point, which directly receives the force generated by the force transmission pattern 30, is made of Dyneema fabric to minimize deformation. The back of the knee anchor point is the area where the clothing comes into contact with the skin most when bending the knee, so it is made of sweat-absorbing and quick-drying fabric for increased comfort.

[0072] The ankle anchor point 22 mimics the retinaculum and ligaments of the ankle joint. The numerous bone fragments of the ankle joint are stabilized by medial and lateral ligaments, while two extensor supports bind the tendons of the extensor muscles to the ankle, preventing tendon bending while the foot and toes are extended. Thus, the ankle joint has numerous ligaments and retinaculums surrounding the ankle, similar to an ankle prosthesis with a hole in the heel (Figure 7). The ankle anchor point 22, designed to mimic this shape, is made of various materials that smoothly embrace the ankle and can function as an anchor point without interfering with the wide range of motion that occurs at the ankle joint. This anchor point must also be rigid enough to withstand the upward pulling force generated in the force transmission area, so Dyneema was used to minimize deformation.

[0073] The patterns for each body part utilize the appropriate materials to maximize their benefits and overcome their drawbacks. For example, the suit portion 10, which covers the body shape, is primarily made of flexible and stretchable fabric, allowing for unhindered muscle movement. In contrast, the force transmission pattern portion 30 of the suit uses very stiff fabric to enhance force transmission. The ligament-mimicking portions, like the straps that act as supports, are made of very stiff materials. These do not easily deform due to the muscles and forces acting on the suit. Finally, the tendon and support-mimicking portions are made of materials such as elastic rubber bands and bias webbing, allowing for unhindered ankle movement and connecting high-strength materials to enhance stability (Figure 7).

[0074] The anatomical structure of the human body influences the wearability of the KneE-XOck, so each part must be connected by clothing to effectively activate the functions of each part and prevent the suit from slipping or allowing unintended movement. This consideration of comfort is achieved by combining a base layer made of soft and stretchy fabric for increased wearer comfort, and a fixed layer made of a suitably soft yet stiff fabric to ensure the suit's rigidity. Unlike other exosuits that ensure stability through joints extending all the way to the hips, the KneE-XOck is made up of only sections extending from the knee to the ankle.

[0075] Therefore, the suit is vulnerable to slippage. Therefore, the suit is secured with two layers of straps or elastic bands. This type of fixation layer has a knee fixation layer that uses a ladder lock to secure the straps that hold the ends of the femur and patella, and an arch fixation layer that covers the back of the ankle with an arch.

[0076] It supports the arch and prevents the suit from coming off even with intense ankle movements. The fastening layer contains Velcro®, allowing the wearer to adjust the size of the suit. In addition, the draping method reflects the curves of the human body, allowing for unhindered movement and increased transmission of force generated by the suit. Based on this, all parts of the kneeE-XOcks maintain their individual characteristics while being connected together as a single garment, achieving a high level of completeness.

[0077] The following describes the construction of a kneeE-XOcks prototype according to an embodiment of the present invention.

[0078] The overall structure of the kneeE-XOcks is based on fabric, and it is essential to use fabrics and auxiliary materials that suit the characteristics of each part, making the most of their advantages and compensating for their disadvantages. For this reason, the kneeE-XOcks100 was created using four types of fabric, three types of auxiliary woven fabrics, and three types of auxiliary materials, each with its own unique characteristics.

[0079] The fabrics used included Dyneema, Cordura, Coolmax, and 3D-mesh. Secondary fabrics consisted of elastic cords, webbing straps, and bias webbing. Secondary materials included Cobra buckles, leather fasteners, and Velcro (registered trademark) (Table 1).

[0080] Dyneema fabric, which is 15 times stronger than steel fiber of the same weight and 45% lighter than aramid fiber (mainly used in bulletproof clothing but with better flexibility), is the core fabric used in kneeE-XOcks. As shown in Figure 7, Dyneema is used in conjunction with webbing or Cobra buckles in areas where strong support is needed, such as force transfer patterns and anchor point components.

[0081] However, Dyneema has various limitations and must be properly combined with a supporting fabric. Dyneema has a rough and hard surface, which can cause discomfort when it comes into direct contact with the wearer's skin. Therefore, Cordura fabric, which is easier to wear than Dyneema fabric and has a certain degree of rigidity, high breathability, and quick drying, was used as the lower lining of the Dyneema fabric.

[0082] In addition, a 3D mesh pad is attached inside the Dyneema fabric (force transmission pattern area) to prevent the skin from being pulled together by the movement of the wire caused by moment drive. Also, webbing straps with Velcro® are attached to the forked parts of the transparent pattern area to minimize errors in the force transmission position and tightness of the clothing due to differences in body size, such as around the knees and thighs. The use of webbing straps allows for easy size adjustment without external help, which would have been difficult to achieve with Dyneema alone.

[0083] While Dyneema fabric acts as the framework of the kneeE-XOck, Coolmax fabric acts as the flesh that connects each part. Coolmax fabric is made of a highly stretchable knitted fabric with wide cross-sectional area fibers. This allows for quick drying while providing comfort to the wearer. The Coolmax fabric used in the base layer of the kneeE-XOcks enhances the completeness of the kneeE-XOcks.

[0084] Finally, elasticated elastic cords form a securement layer to reduce deformation and prevent unintentional slippage of the garment. This securement layer is also attached with Velcro® or a leather locking device, allowing the wearer to easily adjust the tension and the degree of pressure (Figure 7).

[0085] Each pattern of the kneeE-XOck shown in Table 1 uses fabrics and materials that match the anatomical characteristics of the human body, aiming for biomimetic pattern design. High-rigidity fabrics and materials such as Dyneema, Cordura, or webbing are used to transmit force and support the pattern. Breathable fabrics and materials such as Curmex and elastic cords are used to apply patterns that take the wearer's convenience into consideration.

[0086] [Table 1]

[0087] KneE-XOcks are soft outerwear that can be worn as everyday clothing. The first part of the KneE-XOcks manufacturing process is to create the overall shape of the base layer from the knee to the foot. This area of ​​the body has the greatest range of motion and is one of the most flexed areas, so there is a limit to how smoothly the base layer can hug the body like a sock.

[0088] It can be put on and taken off simply by creating a two-dimensional (2D) clothing pattern. To alleviate this, the shape of the base layer was created using the draping pattern method, and fabric that fits each part was directly worn on the mannequin body. Based on this, the 3D curves of the body can be reflected in the 2D clothing pattern. The body size used for this suit represents the average size of a Korean man aged 20 to 39 (Figure 8). The body size required to create the base layer can be divided into circumference and height.

[0089] There are five types of circumference: knee circumference (passing the midpoint of the kneecap), calf circumference (passing the protruding point of the calf), ankle circumference (passing the ankle point), and heel-ankle circumference (passing the bottom). There are four height and length measurements: knee height (from the floor to the top of the shinbone), ankle height (from the floor to the ankle bone), and foot width (the horizontal distance between the inner points of the foot). To apply these measurements to the foot and lateral points and foot length (from heel to toe), a mannequin must be calibrated for each measurement using separate pads and fabrics. Using this mannequin, we created a base layer that fits the average size of Korean men aged 20 to 39.

[0090] Based on this size, a base layer made of Crumex fabric was created. After the base layer was completed, a force transmission pattern was created using a biomimetic design of the gastrocnemius muscle. To effectively mimic the function of the gastrocnemius muscle, each part of the component was placed at the corresponding position of the muscle. Straps that act as the medial and lateral heads of the gastrocnemius muscle were gathered based on a triangular 3D print, and the gathered straps were fixed to a cobra buckle that secures the wire that operates through the actuator. A rectangular piece of Dyneema material connected the cobra buckle fixed at the heel bone position to the ring, and a 3D mesh material pad was added inside to prevent the wearer from being injured by friction.

[0091] Based on the position of the force transmission pattern, the knee anchor point was positioned at the upper position, and the ankle anchor point was positioned at the lower position. In this way, the base layer, anchor points, and force transmission components are connected, as shown in Figure 3a. After all components of the kneeE-XOck are connected, an additional fixation layer is sewn to prevent deformation of the protective suit, body movement, or unintentional slippage due to actuator force. Because the kneeE-XOcks are made mostly of fabric, they inevitably have wrinkles from the pre-processing. The kneeE-XOcks were ironed to straighten these areas and give them the appropriate shape. Finally, feedback obtained from wear tests was applied and final adjustments were made to complete the kneeE-XOck.

[0092] The weight of the patella protection garment manufactured according to the embodiment of the present invention, including auxiliary materials excluding the actuator and wire, was 106.3g. Of the weight of the KneE-XOck, the force transmission pattern accounts for 48g and the anchor point accounts for 40g. The KneE-XOcks can be put on in one go by inserting the wearer's foot like putting on socks. After putting on the KneE-XOcks, check that the ankle fixing point (starting from the arch of the foot) is in the correct position, and then adjust the size and fasten it using Velcro®.

[0093] Next, Velcro® is used at the top of the knee and calf to remove any excess looseness and adjust the knee anchor point to fit the wearer perfectly. Using a sewing method suited to each part is another way to maximize the benefits of kneeE-XOcks. To withstand stronger tension than with standard sewing and prevent tearing, overlock and cover stitching are primarily used when sewing kneeE-XOcks. Furthermore, this sewing method creates a long seam below the knee anchor point, which acts as a reference check line regardless of whether the garment is twisted, ensuring a stable fit along the shinbone (Figure 5b).

[0094] The kneeE-XOcks manufactured according to the present invention weighs 106.3g (excluding wires and sensors). Its design allows it to be fastened only to the knee and ankle, eliminating any additional components above the knee, significantly reducing its volume. As its name, "knee-XOcks," is inspired by a type of sock known as knee socks, it is similar in thickness and volume to everyday socks (Figure 10). The average wearing time per garment, excluding the driving portion, was approximately 30 seconds. Seven subjects who first tried on the kneeE-XOcks were able to put them on and take them off in the same way as socks, without the aid of external clothing.

[0095] The benefits of the kneeE-XOcks are not limited to their light weight and quick wearability. As shown in Figure 10, they allow for a variety of movements necessary for daily life without strain, with almost no restrictions on wearing everyday clothing and shoes. A wearability test of the kneeE-XOcks was conducted on seven males aged 25.8±1 years and with various body sizes (height: 176±5cm, weight: 71.9±6.8cm). The performance of the kneeE-XOcks was evaluated by performing various movements, as shown in Figure 10. Based on this, it can be seen that wearing the kneeE-XOcks does not impede daily life.

[0096] We have developed an ankle exosuit that is easier to wear and lighter than conventional ankle support exosuits, yet has the same level of rigidity. To confirm this, we conducted a series of rigidity tests on the human suit. Because it is primarily made of soft materials, a rigidity model is essential to compensate for the nonlinear deformation that occurs when motor force is transmitted to the kneeE-XOcks.

[0097] To this end, we conducted a stiffness test on seven subjects (age: 5.8 ± 1 year, extension: 176 ± 5 years, weight: 71.9 ± 6.8 years) wearing the kneeE-XOcks. This time, they were analyzed to measure stiffness in a static posture. All subjects were informed of the study's purpose, protocol, and inclusion / exclusion criteria, and provided consent before participating. The study protocol was approved by the Central University Clinical Review Board (1041078-202107-HR-214-01C).

[0098] Based on the point at which the transition from the final posture to the pre-swing occurs, the posture was set as close as possible to the point at which the assistive movement of the kneeE-XOck actually occurs. This corresponds to 31-50% of the gait cycle, within the range in which the gastrocnemius muscles are most activated. Furthermore, based on the results of measuring each subject's desired walking style, the subjects' feet were spaced apart at their stride length (average walking speed of subjects: 1.715 m / s, average stride length of subjects: 0.802 m). For speed and stride length, measurements were taken over a 40-m distance on flat ground, and values ​​were used for a 20-m section excluding the 10-m sections ahead and behind.

[0099] A motor (RE 50, 200W, Maxon, City, Switzerland) coupled to a gearhead (GP 62, Maxon, Switzerland) in a static position was used to transmit force to the kneeE-XOcks, which was connected to a machined pulley. A Bowden cable (ALLIGATOR 31-STRAND INNER CABLE, ALLIGATOR, Taiwan) was connected to the pulley with a cable housing (BHL100, JAGWIRE, Taiwan), and the motor's power was transmitted through this cable. The motor was controlled by a motor driver (EPOS 4 70 / 15, Maxon, Switzerland), and the force was measured using a rod cell (LSB 205, Futek, USA). The control system was designed using the system design platform (LABVIEW, National Instruments, City, State, USA).

[0100] Figure 11 shows the results of the stiffness evaluation under the above conditions, i.e., the stiffness when a maximum force of 450 N was repeatedly applied 10 times to seven subjects wearing the kneeE-XOcks. The stiffness model of the human suit was fitted based on the fitting equation proposed by G Lee et al.

[0101] δ suit = C1ln(C2F+1) where C1 and C2 are coefficients of the human suit stiffness model, F is the cable force, and δsuit is the cable displacement. The average stiffness value of the kneeE-XOcks was 21% lower than that of the conventional suit by Bae et al. However, when converted into stiffness value relative to suit weight, it shows that the stiffness is approximately five times stronger.

[0102] To verify the actual force transmission performance of kneeE-XOck in walking situations and to measure the completeness of the suit as a garment when motor force is applied to the suit, a preliminary mobile test was conducted on a treadmill wearing a knee joint - XOcks using a custom-made mobile actuator. The subject who achieved the highest results in the stiffness test wearing the human suit was selected.

[0103] The subject (age: 26, height: 175 cm, weight: 73 kg) wore the kneeE-XOck and then performed a walking test on a treadmill at the subject's desired walking speed (1.25 m / s). The test was performed using a mobile system as shown in Figure 10. A motor (PEQDD) coupled with a gearhead (GP 32, Maxon, Switzerland) was used to provide force to the kneeE-XOck. A pulley was connected to the motor. A Bowden cable (AL-LIGATOR 31-STRAND INNER CABLE, ALLIGATOR, Taiwan) was used with a cable housing (BHL100, JAGWIRE, Taiwan) and connected to the pulley to transmit the force.

[0104] The overall control system for the test consisted of a real-time controller (CompactRIO, National Instruments, USA) and a system design platform (LABVIEW, National Instruments, USA). The motor was controlled via EtherCAT communication using a motor driver (Gold Solo Twitter 10 / 100, Elmo Motion Control, Israel). The force transmitted to the kneeE-XOcks was measured using a rod cell (LSB 205, Futek, USA).

[0105] The total weight of the actuator system used in the test is 2.47 kg. Of the total weight, the weight of the cables and sensors used to transmit and control the assistive force is 226 g. The inventors of the present invention are developing the actuation system themselves, and plan to reduce the volume and weight through future development and sophistication.

[0106] The kneeE-XOcks has the advantage of being lighter and simpler than conventional exosuits, and these advantages can be verified through a walking test in combination with a mobile actuator. The results of the previous walking test showed that the kneeE-XOcks can operate without fatal deformation when the wearer moves, and can be easily connected to a mobile actuator.

[0107] In this example, a bio-inspired pattern-based design method was used to create a new type of ankle Exosuit, called the kneeE-XOcks, and its improved stiffness-to-weight ratio compared to conventional ankle Exosuits was verified. The biomimetic pattern and manufacturing method based on human anatomical structure effectively reduced the weight and volume of the kneeE-XOck compared to conventional ankle Exosuits, while maintaining the supportive effects of the Exosuit and improving wearability.

[0108] In an embodiment of the present invention, performance testing and verification of the kneeE-XOck was carried out using a tethering system. As can be seen from Figure 12, the goal of kneeE-XOcks to produce an easy-to-wear ankle exosuit similar to underwear, based on the combination with a mobile actuation system, was achieved.

Claims

1. The suit part covers the body part from the knees to the soles of the feet, a force transmission pattern made of an inelastic material surrounding the joints and muscles to distribute the driver's force to the clothing and the body in imitation of the tendons of the human body; an anchor point portion made of a non-elastic material designed to surround the joint, mimicking the ligaments of the human body; The force transmission pattern portion has a Y-shaped pattern that starts at the rear of the knee, runs along the calf, and ends at the ankle, The anchor point portion further includes a knee anchor point that is fixed around the knee to absorb downward pulling force when walking and prevent the suit portion from slipping, The anchor point portion further includes an ankle anchor point that is fixed around the sole and ankle to prevent the suit portion from being forcibly removed, The force transmission pattern further includes a connecting portion connected to the ankle anchor point and disposed longitudinally along the calf, and a strap connected to an upper end of the connecting portion and hugging the upper end of the knee, The lightweight wearable suit based on biomimetic technology further includes a fixed support portion connected to each end of one side of the force transmission pattern portion, which embraces and fixes the ankles.

2. The lightweight wearable biomimetic suit of claim 1, wherein the suit portion has knee openings and is flexible and stretchable.

3. The lightweight wearable suit based on biomimetic technology described in claim 2, characterized in that the suit portion includes a hidden opening, covers the body part from the knee to the sole of the foot in three dimensions, and has the shape of a knee sock or stocking.

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