Garment system for prosthetic limb apparatus

Abstract

Methods and apparatuses (devices, systems, etc.), including in particular wearable garments and sockets for to securing an artificial limb, including in particular a powered prosthetics device, to a subject while distributing the weight and forces arising from the artificial limb. For example, described herein are garment apparatuses for supporting a prosthetic limb that may include a torso region formed of a compression material, a plurality of support plates positioned on the torso region and a holster configured to be removably attached at least partially over an arm opening of the torso region by coupling to one or more of the support plates. The holster may be configured to hold a socket apparatus for securing the prosthetic limb.

Description

GARMENT SYSTEM FOR PROSTHETIC LIMB APPARATUSCLAIM OF PRIORITY

[0001] This patent application claims priority to U.S. provisional patent application no. 63 / 579,863, titled “GARMENT SYSTEM FOR PROSTHETIC LIMB APPARATUS,” and filed on August 31, 2023, which is herein incorporated by reference in its entirety.INCORPORATION BY REFERENCE

[0002] All publications and patent applications mentioned in this specification are herein incorporated by reference in their entirety to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.BACKGROUND

[0003] Hand and arm amputees benefit greatly from prosthetic replacements. Prosthetic hands, wrists, and / or arms restore lost functionality and provide independence to users. Although powered (e.g., robotic) prosthetic devices have been proposed, these apparatuses have bene poorly adopted, as they have proven difficult to control and operated, and are also uncomfortable, as they may be heavy.

[0004] What is needed are apparatuses and methods for wearing powered prosthetic apparatuses that enhance the usability and comfort for the user.SUMMARY OF THE DISCLOSURE

[0005] Described herein are methods and apparatuses (devices, systems, etc.) related to artificial limbs, including prosthetics and / or robotic arms. These methods and apparatuses described herein may be used as part of a powered prosthetic device to be worn by a user. In particular, described herein are apparatuses (devices and systems, including garments and wearable devices) and methods for use with a powered prosthetics.

[0006] In general, these apparatuses may include any of the features or components described herein in any combination or individually. For example, described herein are wearable garment apparatus for supporting a prosthetic limb, the apparatus comprising: a torso region formed of a compression material; a plurality of support plates positioned on the torso region; and a holster configured to be removably attached at least partially over an arm opening of the torso region by coupling to one or more of the support plates, wherein the holster is configured to hold a socket apparatus for securing the prosthetic limb.

[0007] The torso region may be configured as a shirt formed of a neoprene material. The support plates may be integrated or attached to the torso region. Any number of support plates may be used. For example, the plurality of support plates may include a shoulder plate, a front plate and one or more: arm plate, side plate and scapular plate. Each of the plurality of support plates may comprise a plurality of layers including one or more stiffening layers. Each of the plurality of support plates may comprise an external loop material. In some examples each of the plurality of support plates comprises a gripping material on an inner, skin-contacting side of the torso region configured to adhere to a skin surface without sliding. A skin-contacting surface of the gripping material may be smooth and uninterrupted. For example, a skin-contacting surface of the gripping material may be coupled to one or more other layers forming each of the one or more support plates by an adhesive or weld.

[0008] Any of these apparatuses may include one or more straps configured to connect to one or more of the plurality of support plates. The one or more straps may comprise a hook structure configured to engage with a loop structure on the one or more of the one or more support plates.

[0009] The holster may comprise one or more support plates. In some examples the holster comprises a shoulder region, a back region and a front region, each configured to removably couple to one or more of the support plates on the torso region.

[0010] Any of these apparatuses may include a pull loop configured to remove the holster from the torso region. The socket apparatus may be configured to be worn over a residual limb of a subject and secured within the holster.

[0011] For example, a wearable garment apparatus for supporting a prosthetic limb may include: a torso region formed of a compression material; one or more support plates positioned on the torso region adjacent to an arm opening of the torso region, wherein each support plate comprises a gripping region on an inner skin-facing surface of the torso region; and a holster configured to be removably attached at least partially over an arm opening of the torso region by coupling to the one or more support plates, wherein the holster is configured to hold a socket apparatus for securing the prosthetic limb.

[0012] In some examples a wearable garment apparatus for supporting a prosthetic limb includes: a torso region formed of a compression material; one or more support plates positioned on the torso region adjacent to an arm opening of the torso region, wherein each support plate comprises a gripping region on an inner skin-facing surface of the torso region; a socket apparatus configure to releasably couple to the prosthetic limb; and a holster configured to be removably attached at least partially over an arm opening of the torso regionby coupling to the one or more support plates, wherein the holster is configured to hold the socket apparatus.

[0013] Also described herein are socket apparatuses for use with a powered prosthetic limb. For example, the socket apparatus may include: an upper socket region configured to fit over a portion of a wearer’s shoulder and / or residual limb; a lower socket region comprising one or more shell parts; wherein the upper socket region is flexibly hinged to the lower socket region; and a lacing sub-system coupling the one or more shell parts of the lower socket region and / or the upper socket region via one or more laces extending at least partially around the upper and / or lower socket regions. The apparatus may be configured to house at least a portion of a myoelectric interface worn on the wearer’s residual limb within either or both the upper socket region and the lower socket region.

[0014] In general, the socket apparatus may further include one or more vents.

[0015] Any of these apparatuses may include a lower socket region comprising one or more attachments for removably coupling to a powered prosthetic limb. The one or more attachments may include one or more of a mechanical and electrical attachments. The upper socket region may comprise a plurality of individual petals each flexibly hinged to the lower socket region.

[0016] The lacing sub-system may comprise a control (e.g., on the upper or lower socket region) that is configured to adjust tension of the one or more laces. The lacing sub-system may comprise a plurality of channels extending on or in the upper socket region and the lower socket region configured to hold the one or more laces. The one or more laces may comprise a metallic, polymeric or natural fiber.

[0017] Any of these socket apparatuses may include an upper socket pad configured to be worn in the upper socket region. The upper socket region may be flexibly hinged to the lower socket region via a living hinge.

[0018] Any of these apparatuses may include a myoelectric adapter configured to be worn on a subject’s residual limb and secured by the socket apparatus.

[0019] The socket one or more laces may comprise an elastomeric material. Any of these apparatuses may include a porous pad within the lower socket region.

[0020] For example, a socket apparatus for use with a powered prosthetic limb may include: an upper socket region configured to fit over a portion of a wearer’s shoulder and / or residual limb; a lower socket region comprising a shell, wherein the lower socket region is configured to house a myoelectric interface to be worn on the wearer’s residual limb; wherein the upper socket region is flexibly hinged to the lower socket region; a lacing sub-system coupling the shell of the lower socket region and the upper socket region via one or morelaces extending at least partially around the upper and lower socket regions; and a control configured to adjust tension of the one or more laces.

[0021] For example, a socket apparatus for use with a powered prosthetic limb may include: an upper socket region configured to fit over a portion of a wearer’s residual limb, the upper socket region comprising a plurality of petals, wherein the upper socket region is configured to house at least a portion of a myoelectric interface when the myoelectric interface is worn on the wearer’s residual limb; a lower socket region comprising a shell; wherein each petal of the upper socket region is flexibly hinged to the lower socket region; and a lacing sub-system coupling the petals of the upper socket region via one or more laces extending at least partially around the upper and lower socket regions; and a control configured to adjust tension of the one or more laces.

[0022] Also described herein are methods, e.g., method of wearing a prosthetic limb. For example, a method may include: donning, by a subject, a torso region of a wearable garment; placing a myoelectric interface over a residual limb of the subject; attaching a socket over the myoelectric interface; attaching a holster at least partially over an arm opening of the torso region of the wearable garment by coupling the holster to one or more support plates on the wearable garment; coupling the socket into the holster; and coupling the prosthetic limb to one or more attachments of the socket.

[0023] Any of these methods may include securing the socket over the myoelectric interface by applying tension to tension one or more laces of a lacing sub-system of the socket. The methods may include coupling the prosthetic limb comprises coupling a powered prosthetic limb.

[0024] Donning the torso region may comprise positioning one or more gripper surfaces underlying each of the one or more support plates against the subject’s skin.

[0025] In general, the steps of the methods may be performed in any appropriate order. For example, the myoelectric interface may be attached before donning the torso region, or after.

[0026] Any of these methods may include attaching one or more straps to the one or more support plates on the wearable garment to secure the wearable garment to the subject.

[0027] All of the methods and apparatuses described herein, in any combination, are herein contemplated and can be used to achieve the benefits as described herein.BRIEF DESCRIPTION OF THE DRAWINGS

[0028] A better understanding of the features and advantages of the methods and apparatuses described herein will be obtained by reference to the following detaileddescription that sets forth illustrative embodiments, and the accompanying drawings of which:

[0029] FIG. 1 A shows one example of an apparatus (e.g. a prosthetic arm apparatus) as described herein, which may include one or more of: a powered elbow joint, a powered wrist joint and / or powered finger joints ad described herein.

[0030] FIG. IB is an example of a prosthetic apparatus as described herein.

[0031] FIGS. 2A-2B illustrates one example of a wearable system for a prosthetic device; FIG. 2A shows the garment without the prosthetic attached, and FIG. 2B shows the garment with the prosthetic attached.

[0032] FIGS. 3A-3B illustrate one example of a socket that may be part of an apparatus as described herein.

[0033] FIG. 4 is an example of a myoelectric interface configured as a cuff.

[0034] FIG. 5A is an example of a front view of a wearable garment (e.g., skin layer) and holster as described herein.

[0035] FIG. 5B is a back view of the wearable garment (e.g., skin layer) of FIG. 5 A.

[0036] FIGS. 5C-5D show front and back views, respectively, of an example of a wearable garment (e.g., skin layer).

[0037] FIGS. 6A-6F illustrate different views of an example of a socket.

[0038] FIGS. 7A-7E illustrate different views of another example of a socket.

[0039] FIG. 8A is an example of a portion of a myoelectric interface.

[0040] FIG. 8B is an example of a portion of a myoelectric interface.

[0041] FIGS. 9A-9B illustrate one example of a wearable garment (e.g., skin layer) and a holster.

[0042] FIG. 10A is a front view of another example of a wearable garment (e.g., skin layer).

[0043] FIG. 10B schematically illustrates an example of the layers that may form a shield or plate that may be included with any of the wearable garments (e.g., skin layers) and / or holsters described herein.

[0044] FIGS. 11 A-l ID illustrate another example of a wearable garments (e.g., skin layer) as described herein.

[0045] FIG. 12 shows an example of a wearable garments (e.g., skin layer) inside-out, showing the skin-contacting surfaces of the wearable garment.

[0046] FIG. 13 is another example of an inside-out view of a wearable garment as described herein.

[0047] FIG. 14 illustrates an example of a holster shown inside-out.

[0048] FIG. 15 schematically illustrates another example of layers that may form a shield or plate that may be included with any of the wearable garments (e.g., skin layers) or holsters described herein.

[0049] FIG. 16 illustrates examples of shield or plates that may be used with any of the wearable garments and / or holsters described herein.

[0050] FIGS. 17A-17C illustrates the shield or plates of FIG. 16 arranged over a model of the body showing where they may be attached to the wearable garment and holster of any of the apparatuses described herein.

[0051] FIGS. 18A-18D illustrate another example of a wearable garment (e.g., skin layer) as described herein.

[0052] FIGS. 19A-19B illustrate another example of a wearable garment (e.g., skin layer) as described herein.

[0053] FIG. 19C schematically illustrates another example of layers that may form a shield or plate that may be included with any of the wearable garments (e.g., skin layers) or holsters described herein.

[0054] FIG. 20 illustrates an example of an inside-out view of a holster as described herein.

[0055] FIGS. 21 A-21B illustrate inside-out views of another example of a wearable garment (e.g., skin layer) as described herein.DETAILED DESCRIPTION

[0056] Wearable apparatuses (“garments”) for use with prosthetics, and in particular, powered prosthetics, may be configured to holding and distributing the weight and forces of the artificial limb. Artificial limbs as described herein may refer to prosthetics and / or robotic arms. For example, the methods and apparatuses (garments) described herein may be used as part of a powered prosthetic apparatus to be worn by a user or they may equivalently be a part of a robotic apparatus that may be operated remotely and / or automatically. The apparatuses (devices and / or system, including wearable garments for use with artificial limbs) described herein may include a skin-worn layer, which may be a compression garment, a set of rigid or semi-rigid plates coupled to the skin-worn layer, and one or more internal striction regions for engaging with the wearer’s skin. Also described herein are neuromuscular interfaces (e.g., cuffs) that may be worn on the arm to sense neuromuscular activity intended activity, and a socket attachment portion that may be hard and / or soft. The socket attachment may mount to the cuff and / or may be configured to couple to the garment; in some examples the socket may be integrated into the garment.

[0057] In general, the garments described herein may be used with a prosthetic, including a powered prosthetic. For example, FIG. 1 A illustrates an example of a garment apparatus configured to be used with (or to include) a prosthetic device to be worn by a user. The user may be, for example, an amputee. In this example the apparatus (garment) may include a harness or yoke 101 to which the limb apparatus 100 may be coupled. The user may also wear a neuromuscular interface, in this example, configured as a cuff 105 which may be applied over the skin in order to detect input (e.g., signals, including electromyographic, EMG, signals) to control the apparatus. The limb apparatus (prosthetic) 100 may include an upper arm portion 103 that may be coupled to the user’s torso and / or the yoke 101 and may include an elbow joint 107 linked to bot the upper arm portion 103 and a forearm portion 109. In any of these examples the elbow joint 107 may be powered, as described herein. The forearm 109 may include an outer housing enclosing the powered and unpowered components, and couples to a wrist joint 111, which may be a powered wrist joint, as described herein. The wrist joint may connect to a hand with fingers 115, which may be powered, and a palm.

[0058] Any of these prosthetics may include one or more processors for controlling operation of the prosthetic. The one or more processors (e.g., configured as a controller or controller) may be integrated into the apparatus, e.g., within the upper arm and / or forearm and / or wrist and / or hand and / or finger(s). These apparatuses may generally include a power supply (rechargeable power supply, wall power adapter, etc.), and may include communication circuitry (e.g., wireless communication circuitry) to communicate between components (e.g., joints, etc.) and / or with a remote processor, user smartphone, tablet, etc. A variety of different sensors may be included. In general, the powered components (elbow, wrist, fingers, etc.) may include sensors to detect forces, including torque, acting on the powered component, and / or may include sensors for detecting position (absolute position and / or relative position). Sensors may include force sensors, accelerometers, etc., and in some case proximity sensors (including optical, ultrasound, electrical (e.g., ultrawideband, UWB, sensors, etc.), etc., may be integrated into the apparatus, including on figures and / or palm 113 and / or back of the hand, side(s) of the hand, wrist, forearm, etc.

[0059] The prosthetic may be operated with a user-control input device, including sensory devices (e.g., EMG, joystick, etc.). For example, the apparatus may include a cuff or band including neuromuscular sensors (e.g., EMG or other equivalent sensor) as control input to control the powered operation of these apparatuses (e.g., artificial, powered limb). The apparatus may be configured to execute pre-programed (e.g., “macro”) movements.

[0060] In general, the prosthetics described herein may include one or more sensors for determining the position and / or torque and / or status of one or more joints formed as part of the apparatus (e.g., finger joint, wrist joint, elbowjoint, etc.).

[0061] For example, FIG. IB shows an example of a prosthetic device, including powered fingers 115 coupled to a powered wrist 111 that may controllably move relative to a forearm 109 region that may itself be moved relative to an upper arm 103 region coupled to the user’s body. In this example the prosthetic may receive user’s control input through a neural interface, such as a cuff 105, as mentioned above (e.g., EMG input) and / or may receive input wirelessly (e.g., via a user’s phone or other device), by receiving input from the user’s other arm, and / or from remote input. In FIG. IB the prosthetic also includes a touchscreen / display 189 that may act as both an output (outputting information, and / or control setting) and / or may also receive input from the user.

[0062] Although the prosthetics described herein may be configured to be relatively lightweight and may have a low power requirement with a high load output, coupling such prosthetics to the user comfortably and securely may require a wearable garment that is able to distribute the weight and forces, while remaining comfortable and easy to wear / remove and clean.Wearable Garment

[0063] The apparatuses described herein may include a relatively tight fitting, compressive, upper body garment system (“top” or yoke) that holds and distributes the weight and forces of attachments (e.g., the prosthetic) across the body. These wearable systems may support a prosthetic and may include a suspension system or sub-system for the secure and comfortable attachment of the prosthetic to the body. In any of the apparatuses described herein the garment may be compressive, close fitting and may include padding, areas of rigidity and areas of stretch and areas of softness. The positioning of these different rigid / soft / stretch regions are described and illustrated herein.

[0064] Thus, in general, these apparatuses may include a suspension sub-system integrated into the garment for comfort and wearability compatible with the use of a prosthetic as described above. Unlike traditional prosthetic support systems, which typically relied on the interaction with the user’s limb, and may include straps (e.g., individual, narrow straps), these apparatuses may instead include a skin layer to be worn on the torso, as well as a holster portion that may attach to the skin layer, a hard or soft socket that couples to the skin layer via the holster portion and a cuff that fits within hard or soft socket.

[0065] The socket may also or optionally be referred to herein as a shield (e.g., arm shield) or saddle (e.g., arm saddle). In some examples the shield may be configured as a heat-formed thermoplastic rigid distribution component with non-slip contact to the body and may include connection points for connecting to the skin layer and / or holster. In some examples the apparatus may include straps from a suspension side to a load -bearing side. For example, the straps may extend across the body over a flexible yet rigid, non-collapsible, interior yoke structure that is embedded into the garment. In some examples the apparatus may include a combination of strapping and elastic components that may allow the system to apply preload to the prosthetic arm to support the weight of the device during activity and body movement. The skin layer, which may also be referred to herein as an undergarment shirt, may be compressive, breathable, wicking and washable with removable structural elements.

[0066] In general, these wearables may be configured for ease in applying / removing, particularly by users having only one arm. For example, any of these garments may include a loop, e.g., under the arm on the sleeve that the wearer can pull with their free hand (e.g., an intact arm) to doff the garment. The loop makes it easier to pull the sleeve off despite the gripping surface(s) on the inside of the garment (described in greater detail below) and may help doffing for single-handed wearers.

[0067] The hard or soft socket may provide equal and distributed compression around the cuff (worn proximal to or on the residual limb) for better myo-electric readings. The socket may connect to the skin layer of the garment by a connection, such as a magnetic and / or mechanical connection that is configured to be connected and disconnected with one hand. In some examples the socket may be part of myo-electric system for neural control of the robotic (powered) prosthetic. In some examples, the socket may be formed from a body cast or splint design custom to the wearer’s body with a flexible area in the region of the center of the upper arm to allow for adjustability to compress / attach to body. In some examples the socket may be connected as a continuation of the suspension system and may support part of the weight of the prosthetic (in combination with the “yoke”). In some examples the apparatus may include support straps that are coupled to the skin layer, and / or the socket.

[0068] In general, the socket may couple the myoelectric sensors (e.g., in a cuff) and / or an attachment to the prosthesis, to the skin layer in a manner that both supports and protects these components. In some examples the socket may act as an exo-skeleton having a compressive multi-part shell. The socket may include an upper (e.g., shoulder) socket region that is flexibly connected to a lower socket region. The upper and lower socket regions may be formed of component parts (left, right, etc.) and all or some of these parts may be flexibly connected together, including connected by a lacing system. For example, the upper and lower socket regions may be connected by a cord that winds around the socket to tighten these pieces together. In general, the socket may be magnetically and / or mechanicallyconnected to the skin layer (e.g., to a yoke portion of the skin layer in some examples). The socket may be padded and adjustably configured to compress / attach to the wearer’s body, including to the residual limb. In some examples the socket may include an internal sleeve and / or may provide 3-point compression for helping ensure consistent contact by the myoelectric sensors on the cuff (or otherwise).

[0069] FIGS. 2A and 2B illustrate examples of a wearable upper body garment system including a skin layer 206 that is configured to compressively secure to the wearer’s body and to hold and distribute the weight and forces of an attached prosthetic, as shown in FIG. 2B. The skin layer 206 is formed of a compression (stretch) fabric that supports the prosthetic limb for secure and comfortable attachment to the body. As will be described in greater detail below, the skin layer may include one or more (e.g., a plurality) of rigid or semi-rigid plates as well as one or more striction regions on the inside of the skin layer for gripping the skin and reducing movement of the wearable garment relative to the skin. The material maybe fore md of a breathable material that is configured to wick and maintain the skin beneath it relatively cool. In general, the apparatus acts as a suspension system for the prosthetic limb.

[0070] In FIG. 2A a hard socket 202 is also shown attached to the patient, over the residual limb of the patient. The hard socket may be directly and / or indirectly coupled to the skin layer. For example, in FIG. 2B a holster 204 is coupled to both the skin layer 206 and the socket 202 (shown as a hard socket in this example). The holster may couple to the upper, shoulder region of the hard socket and may also couple to the skin layer, e.g., via a loop-and- hook (e.g.., Velcro) attachment. In FIGS. 2A-2B the garment also includes one or more straps around the torso region which may also help distribute the weight and force of the prosthesis. The hard socket 202 in FIG. 2B also includes a strap on the outside to help secure it over the residual limb region, as shown.

[0071] The socket (e.g., hard socket 202) may provide equal and distributed compression to the wearer’s residual limb and / or myoelectric sensor(s) for better comfort and more consistent myoelectric readings. FIGS. 3A and 3B illustrate one example of a hard socket as described herein. In this example the hard socket is held by the holster to the skin layer with easy to adjust (e.g., hook and loop) connectors that are able to be connected, adjusted and disconnected with one hand. The socket may be configured to be custom fit to a particular wearer’s body and / or may be adjustable so as to conform comfortably to a number of different body sizes. The socket is configured to apply compression in its circumference and the upper socket shoulder cup allows a user to adjust the compression with a rotational cable lacing system that is also configured for easy donning and doffing to their residual limb.

[0072] The socket 202 shown in FIGS. 3A and 3B includes an upper socket 208 region configured as a shoulder cup that may bend in a hinge-like connection (flexible hinge 320) to the lower socket region 321. The lower socket may be configured to hold the myoelectric interface (e.g., cuff) and secure onto the wearer’s residual limb. The lower cuff may be formed as a single piece or multiple pieces that are coupled together. Both the upper and lower socket regions may include vents 322 (e.g., ventilation openings). As mentioned, the components of the socket, including the upper and lower socket regions may be laced together, e.g., by a rotating cable lacing system 210. The lacing may include a cable, filament, fiber, etc. that extends between the components in a channel and may provide adjustable tension to hold the components together. In some examples the cable (e.g., filament, fiber, etc.) may be an elastic material. The cable tension may be adjusted; in some examples the cable tension may be adjusted to tighten / loosen tension by turning a control (e.g., knob, dial, etc.).

[0073] The socket may also include one or more connectors and / or attachments 325 for coupling to a prosthetic limb. In general, the socket may support and secure the prosthetic limb to the user’s residual limb. In some examples the socket may include one or more electrical and / or mechanical connectors for connecting to the prosthetic limb. This may allow the prosthetic limb to securely attach to the socket and (in some variations) to receive control, data and / or power inputs or outputs from the socket ad / or from one or more components in communication with the socket, such as the myoelectric interface.

[0074] FIG. 4 illustrates one example of a myoelectric interface, show in this example as a cuff, that may be used with any of the apparatuses described herein. In FIG. 4 the cuff 212 is a cylindrical sheath that includes the myoelectric sensors integrated within the fabric of the cuff. The cuff may be applied over the wearer’s residual limb to receive signals from the wearer to control movement and / or operation of the device.

[0075] FIGS. 5 A and 5B illustrate the socket of FIGS. 3 A and 3B worn along with the skin layer 206 and a holster 204 by a user (“wearer”). In this example the holster secures and transfers the weight of the artificial limb (not shown) that may be coupled to the socket to the skin layer.

[0076] Thus, the sockets described herein may act as an exo-skeleton, compressive multipart shell. In the example shown, the fit and comfort of the socket may be adjusted by adjusting the rotating cable lacing system that winds the cable around an upper and lower socket regions to tighten / loosen. The socket may be coupled to the skin layer (garment) by a suspension sub-system that may help supports the weight of the artificial limb and may include the holster.

[0077] As shown in FIG. 5B, the holster 204 may include one or more attachments (e.g., loop-and-hook attachments, buckles, snaps, etc.) removably securing the holder to the skin layer. The holster may be removable from the skin layer (garment) and may also be removably secured to the socket (not shown in FIG. 5B). The holster may include a pocket or channel into which the socket may be held, and the socket may both fit over the residual limb and may also secure to the holster and / or to the wearable garment (skin layer).

[0078] FIGS. 5C and 5D illustrate another example of a skin layer that is configured as a minimal yoke 506. A holster may be coupled to this skin layer (not shown). As in any of the skin layers described herein, the skin layer may include one or more rigid or semi-rigid plates. The skin layer may include one or more internal (skin-facing) gripping regions. The skin layer may also include one or more straps that may be tightened or loosened to adjust the fit of the skin layer.

[0079] FIGS. 6A-6F illustrate another example of a socket, shown configured as a “hard” socket in this example because it includes a plurality of rigid components that are adjustably connected together. In FIG. 6A the socket includes an upper socket region 608 and a lower socket region 621. The upper socket region is hinged to the lower socket region via a flexible hinge 620 and a lacing sub-system 610 (also referred to herein as a lacing) connects the various regions in with a cable (e.g., cord, filament, etc.) that may be adjusted to adjust the fit and movement of the socket. In FIGS. 6A-6F the lacing sub-system is configured as a rotating cable lacing system 610. The entire socket is configured to fit onto the user arm 632, as described above, including over the myoelectric interface (e.g., cuff). FIG. 6A shows a front view, FIG. 6B shows a back view, FIG. 6C shows a right side (outer) view and FIG. 6D shows a left side (inner) view. The rigid plates forming the upper and lower socket components may include vents 622. As shown in FIG. 6D the lacing sub-system may be configured to apply compression (e.g., circumferential compression 624) around the lower socket region. The same or a differ cord may also be configured to connect between the upper socket 608 shoulder cup and the lower socket 621, and, in combination with the hinge region, may apply a return force to secure the upper socket region over the wearer’s shoulder while allowing movement of the wearer’s arm relative to the shoulder. FIG. 6E shows the upper socket region 628 bent away from the shoulder region, allowing the socket to flex as the arm is moved.

[0080] FIG. 6F shows an exploded view of the socket shown in FIGS. 6A-6E. In FIG., 6F the user’s arm 632 with an attached cuff 612 is shown. The hard socket shown in this example includes an upper socket region, having an upper socket pad 635 and an upper socket shoulder cup 608. Any appropriate socket pad 635 may be used. The socket pad maybe, for example, a foam material. The lower socket is shown as a rigid cup-shaped region 627 that includes one or more electrical and / or mechanical attachments 625 for engaging with the prosthesis. The upper socket region may be hinged to the lower socket region via a flexible hinge 620 (shown as a living hinge in this example). The lacing sub-system 610, including one or more lengths of cable 610’ and one or more controls 610” (e.g., dials, etc.) for adjusting the tension on the cable is also shown.

[0081] The hard socket shown in FIGS. 6A-6F may provide equal and distributed compression for better comfort and more consistent myo-electric readings and may be adjustable to adjust the compression by adjusting the circumference of the lower socket region and the flexibility of the upper socket shoulder cup. This may allow a user to adjust the compression via the rotational cable lacing sub-system as described above. This may also enhance the ease of putting on (donning) and / or taking off (doffing) the socket and therefore the artificial limb to their residual limb.

[0082] FIGS. 7A-7E illustrate another example of a socket, configured as a “soft” socket. The soft socket shown in FIGS. 7A-7E may provide equal and distributed compression by mapping the body structure to couple it to the skin for better comfort and more consistent myo-electric. This example may also create compression by adjusting the lacing between a plurality of plates (“petals”) to allow the device to be easily applied and removed. For example, the lacing sub-system may be adjusted by adjusting a rotational cable lacing subsystem. The upper socket shoulder cup 708 may therefore include a plurality of plates (petals) 718, 718’, 718”, 718’” that are hinged to the lower socket 272 via one or more hinges (e.g., living hinges 720, 720’). The lower socket region may be configured to fit over the end of the residual limb and may include one or more connectors 725 (e.g., mechanical and / or electrical connectors) for coupling to the prothesis, as mentioned above.

[0083] The upper socket region 708 may be configured to adjust the tension on the petals of the upper socket region by adjusting the lacing of the lacing sub-system 710. As shown in FIG. 7D, when the lacing (cord 710’) is loose, the plates or petals forming the upper socket region may be allowed to open outwards, allowing the socket to be easily removed from the residual limb, and / or over the myoelectric interface (e.g., cuff 712). In FIGS. 7A-7D the plates of the upper socket region are configured to directly contact the myoelectric interface; in some examples a padding may be included. In some examples the myoelectric interface may be integrated into the socket. The lacing tension may be controlled by the user, e.g., by adjusting a control 710” such as a rotational cable lacing control.

[0084] FIG. 7E shows an exploded view of the socket of FIGS. 7A-7D. The socket is generally attached or attachable to a user’s arm 732 and over the myoelectric interface 712. Inthis example the upper socket region 708 includes the four petals 718, 718’, 718”, 718’” that are laced together by a lacing subsystem including a cord 710’ and a control 710” for adjusting the tension on the cord of the lacing subsystem. The four petals of the upper socket region are each coupled to the lower socket region 727 by a hinge (living hinge 720). The lacing subsystem may also connect the lower and upper socket regions. The lower socket region includes an inner lower socket 727” that couples with the outer lower socket 727’. A porous padding 762 may be held within the socket (e.g., between the upper and lower socket regions) that may support the residual limb while allowing airflow. The lower socket region may also include one or more attachments 725 to couple to the prosthetic device as described above.Myoelectric Interface (Cuff)

[0085] Also described herein are myoelectric interfaces (e.g., cuffs), including textilebased sEMG apparatuses for reading muscle activity in residual limb to help control the prosthetic. As described above the myoelectric interface may be worn as part of a separate component over the residual limb or it may be integrated into the apparatus, e.g., integrated into the socket. In some examples the myoelectric interface is configured as a textile-based compression sock that is configured to fit over the residual limb or stump of a congenital amputee. For example the myoelectric interface may include a knitted fabric sock containing a matrix of 2 rows of 8 sEMG sensor units, as shown in FIG. 8A. In this example each unit may measure surface EMG at its location the residual limb and may transmit the reading over wire or printed circuit to a main PCB for processing. The device may be battery powered, rechargeable and may communicate with the prosthetic limb or VR environment via Bluetooth. In FIG. 8A, the sEMG sensor units are sealed against water and are integrated into a knitted sock, e.g., with heat-activated seam-bonding film. The knitted areas between the sensor units may have a high level of stretch and recovery in order to create a comfortable compressive pressure on the body required to make good skin-to-electrode contact in order to reliably read muscle activity.

[0086] In FIG. 8A the x-axis direction 784 (e.g., in a plane that is transverse to the residual limb when worn) is flexible / stretchy, at least in the connector / trace regions 871, whereas the regions to which the sensors are coupled 872 is less stretchy (or not stretchy). In this example, alternating more / less stretchy regions are shown by alternating stripes. In contrast, the material is not stretchy in the region perpendicular to this direction 875. FIG 8A shows an example of a layout showing areas of stretch vs non-stretch. Note that although this layout has the main board, battery, etc. in a separate location, they could also be co-located at one of the sensor units.

[0087] In any of these examples, the sEMG matrix may have a physical mapping in space, that may be defined in cylindrical coordinates. The rotation angle about the Humeral axis may be referred to as phi and may subtend 360 degrees, the radius Rho may be variable depending on the cuff design and size of arm stump. The Z coordinate may be quantized in terms of the number of rows, and so is the value of Phi as there are only a finite number of columns. The mapping may be particularly useful when the system (e.g., the powered prosthetic) uses the sensed data for control.

[0088] Another example of a textile-based myoelectric interface including sensors (e.g., sEMG sensors) is shown in FIG. 8B. For example, a myoelectric interface may include a textile compression material (e.g., compression fabric) that is built into the soft socket sleeve to fit over the residual limb or stump of a (congenital) amputee. The electronics are sealed into the socket paddles containing a matrix of 4 sets of 4 sEMG sensor units. Each unit may measure surface EMG at its location the residual limb and may transmit the reading over wire or printed circuit to a main PCB for processing. The device may be battery powered, rechargeable and may communicate with the prosthetic limb via Bluetooth. The sEMG sensor units may be sealed against water and may be integrated into the soft socket with heat- activated seam-bonding film. The areas between the socket paddles / sensor units have a high level of stretch and recovery in order to create a comfortable compressive pressure on the body required to make good skin-to-electrode contact in order to reliably read muscle activity. Note that although this layout has the main board, battery, etc. in a separate location that is easy to remove so the garment can be washed. The dimensions shown in FIGS. 8A and 8B are intended to be examples and should not be limiting. Although in some cases these dimensions may be advantageous, other dimensions may be used.Base / Skin Layer

[0089] FIGS. 9A-9B, 10A-10B, 11A-11D, 12, 13, 14, 15, 16, 17A-17C, 18A-18D, 19A- 19C, 20 and 21 A-21B, all show examples of wearable garments that may be used as part of the apparatuses described herein. These wearables may be referred to as the skin layer, or the base layer of the apparatus, and may generally include a compression material. The wearables may also include one or more attachments to couple or attach the prosthetic (e.g., powered prosthetic) either directly or indirectly via a socket and / or in some examples a holster. Any of these wearables may include one or more reinforced regions (“plates”) that are rigid or semirigid and may help support and distribute the weight and forces arising from the attached prosthetic. Any of these wearables may also or alternatively include one or more (e.g., a plurality) of discrete gripping surface(s) to secure the garment to the skin when worn.

[0090] FIGS. 9A-9B illustrate a first example of a wearable garment (base layer or skin layer) 900 that is configured to be worn over the subject’s torso. In FIG. 9 A the front of the garment is shown and includes a holster 902. The holster in this example is large, and corves the right side of the wearer’s body. The holster may be couped to the base layer / skin layer by one or more attachments, such as hook-and-latch attachments (as shown). FIG. 9B shows a back view of the same base layer and holster as in FIG. 9A. The holster may be configured to be easily removed by a one-armed subject by including a loop 956.

[0091] FIG. 10A shows the wearable garment (base / skin layer) 900 of FIGS. 9A-9B without the holster attached. A large, reinforced region 1065 on the upper chest may include the complimentary attachment site or material (e.g., a loop portion of a hook-and-loop attachment). This region may be reinforced by including one or more rigid or semi-rigid panels. Different regions of the wearable garment may include different layers. For example, FIG. 10B illustrates a sectional view through one region of a wearable garment as described herein. In FIG. 10B, the section throughs a multi-layered material including an outer loop material (unbroken loop, UBL), a neoprene layer, a stiffening material (e.g., “FORMO” such as Texon™ X8R-EPM5), a textile carrier layer and in some regions a gripper layer (e.g., a polyurethane based silicone grip material). The layers may be stitched and / or adhesively secured to each other. Regions of the garment that are not reinforced may include just a subset (of one or more) of these layers.

[0092] FIGS. 11 A-l ID show another example of a wearable garment (skin layer) 1100 having multiple reinforced regions 1103 are included. The front of the garment show in FIG. 11 A has a reinforced chest plate 1103 formed as a sandwich of external loop fabric (unbroken loop material) that may hold an elastic body strap and / or the holster in place with hook fasteners. The other layers may be as shown in FIG. 10B. In some examples the inner layer of the plate may include a grip material having a sticky surface that may prevent sliding against the skin. For example, the grip layer may be bonded to a thermoformed, rigid but flexible support structure. Similar plates may be positioned over the shoulder region 1103”” (shoulder plate), on the scapular region 1103” (scapula plate), the side body 1103’” of the body (side plate), on the arm(s) 1103’ (arm plate), etc. These plates or reinforced regions may also or alternatively be referred to as “shields”.

[0093] FIGS. 12 and 13 show a view of the wearable garments such as those shown in FIGS. 11 A-l ID turned inside-out. For example, FIG. 12 shows an inside-out view of the base layer (wearable garment) including the rigid / semi-rigid load distribution and stabilization plates on the garment. In each of FIGS. 9A-9B, 10, 11 A-l ID, and 12 the garment is generally formed of a breathable compression material (e.g., neoprene) to which the support plates havebeen attached via stitching and / or adhesive. In FIG. 12, the inside surfaces of the front 1103, arm 1103’, shoulder 1103”” and side body 1103”’ plates are shown, including the skincontacting grip surfaces. FIG. 13 shows a similar inside-out view of the garment from the back, showing the shoulder plate 1103””, scapula plate 1103” and arm plate 1103’. An additional back region 1103’”” is also shown.

[0094] FIG. 14 shows an inside-out view of the holster that may be used with the wearable garments described above. In FIG. 14 the holster may hold a socket and also includes a plate formed as described above. For example, the plate of the holster may include a laminated set of materials to form the stiffer plate region 1403, visible from the inside surface of the holder as a grip material. FIG. 15 shows an example of the layers forming the stiffer plate region 1403. In This example, the region including a textile carrier layer to which a first stiffening layer (e.g., Texon™ Proform) and a similar or identical second stiffening layer (e.g., Texon™ Proform) is attached; a second textile carrier layer is included following by the inside grip material (e.g., a polyurethane based silicone grip material). These layers may be laminated together mechanically (by stitching), chemically (by adhesive), etc.

[0095] FIG. 16 illustrates examples of the various stiffer regions (shields or plates) that may be used. These regions may be formed as cut-outs that are then attached to the compression fabric (e.g., neoprene) forming the rest of the garment. For example, FIGS. 17A-17C illustrate the placement of these reinforced regions (shields, plates, etc.) illustrating regions where these reinforcing plates may be attached relative to the wearer’s body. As shown, the holster region on the lateral shoulder and upper arm) may be particularly well reinforced which may be helpful in securing the prosthetic (and / or socket) to the garment and therefore to a user wearing the garment.

[0096] Similarly, FIGS. 18A-18D all illustrate examples of wearable garments 1800 including reinforced plate / shield regions for attaching to a socket and supporting a prosthesis. In this example a front plate 1801 extends from the shoulder region in a sash-like position diagonally across the chest, and an upper (scapular) region 1801’ as well as two lower back regions 1801”, 1801’”, a shoulder plate 1801”” and a second scapular region 1801’”” are configured as shield / plates as described above. Another example of a wearable garment 1900 with shield / plates 1901, 1901’, 1901” integrated into the garment is shown in FIGS. 19A- 19B. FIG. 19C shows an alternative example of the layers (laminated layers) forming the plate / shield regions. In this example the additional loop material may not be included.

[0097] In any of these wearable garments, one or more straps may be included, which may be integrated / attached to the garment or may be separate and attachable. The strap maybe elastic and may include the hook material to couple to the loop material on the wearable garment external surface.

[0098] FIG. 20 illustrates another example of a holster 2000 that may be used with any of the holster may securely holds a separate, rigid, adjustable socket connected to the prosthetic. The socket may secure to the residual limb and can be adjusted as descried above (e.g., using a rotating and / or ratcheting dial to adjust the tension on the lacing 2005. The holster 2000 may attach to the skin layer (wearable garment) with one or more attachments (e.g., hook regions 2003, 2003’). For example, the holster may include one or more fastener patches stitched to the inside of the front and back wings.

[0099] FIGS. 21 A-21B show another example of a wearable garment, shown inside-out. In this example, similar to FIGS. 12 and 13, discussed above, the garment may include a plurality of plates / shields that include a non-sliding (e.g., grip) region on the inner surface. In this example the grip region may be attached without stitching, and therefore without presenting a region that may be rough on the wearer’s skin. For example the grip material on the innermost (skin-contacting) layer may be smooth and configured to prevent irritation. In some examples the grip layer may be adhesively attached, welded, etc. In FIG. 21 A the garment 2100 includes a chest plate 2103, a shoulder plate 2103’, a side plate 2103” and an arm plate 2103’”, each having a skin-facing grip surface. Similarly FIG. 2 IB shows the back of the inside-out garment 2100 including a back / scapular plate 2103””, the shoulder plate 2103’, the side plate 2103” and the arm plate 2103’”.

[0100] Although the examples described above refer to prosthetic apparatuses, it should be understood that any of these apparatuses may also or alternatively refer to robotic apparatuses. In some examples these apparatuses may be part of a robotic manipulator that is automatically or semi-automatically manipulated.

[0101] It should be appreciated that all combinations of the foregoing concepts and additional concepts discussed in greater detail below (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein and may be used to achieve the benefits described herein.

[0102] The process parameters and sequence of steps described and / or illustrated herein are given by way of example only and can be varied as desired. For example, while the steps illustrated and / or described herein may be shown or discussed in a particular order, these steps do not necessarily need to be performed in the order illustrated or discussed. The various example methods described and / or illustrated herein may also omit one or more of the steps described or illustrated herein or include additional steps in addition to those disclosed.

[0103] Any of the methods (including user interfaces) described herein may be implemented as software, hardware or firmware, and may be described as a non-transitory computer-readable storage medium storing a set of instructions capable of being executed by a processor (e.g., computer, tablet, smartphone, etc.), that when executed by the processor causes the processor to control perform any of the steps, including but not limited to: displaying, communicating with the user, analyzing, modifying parameters (including timing, frequency, intensity, etc.), determining, alerting, or the like. For example, any of the methods described herein may be performed, at least in part, by an apparatus including one or more processors having a memory storing a non-transitory computer-readable storage medium storing a set of instructions for the processes(s) of the method.

[0104] While various embodiments have been described and / or illustrated herein in the context of fully functional computing systems, one or more of these example embodiments may be distributed as a program product in a variety of forms, regardless of the particular type of computer-readable media used to actually carry out the distribution. The embodiments disclosed herein may also be implemented using software modules that perform certain tasks. These software modules may include script, batch, or other executable files that may be stored on a computer-readable storage medium or in a computing system. In some embodiments, these software modules may configure a computing system to perform one or more of the example embodiments disclosed herein.

[0105] As described herein, the computing devices and systems described and / or illustrated herein broadly represent any type or form of computing device or system capable of executing computer-readable instructions, such as those contained within the modules described herein. In their most basic configuration, these computing device(s) may each comprise at least one memory device and at least one physical processor.

[0106] The term “memory” or “memory device,” as used herein, generally represents any type or form of volatile or non-volatile storage device or medium capable of storing data and / or computer-readable instructions. In one example, a memory device may store, load, and / or maintain one or more of the modules described herein. Examples of memory devices comprise, without limitation, Random Access Memory (RAM), Read Only Memory (ROM), flash memory, Hard Disk Drives (HDDs), Solid-State Drives (SSDs), optical disk drives, caches, variations or combinations of one or more of the same, or any other suitable storage memory.

[0107] In addition, the term “processor” or “physical processor,” as used herein, generally refers to any type or form of hardware-implemented processing unit capable of interpreting and / or executing computer-readable instructions. In one example, a physicalprocessor may access and / or modify one or more modules stored in the above-described memory device. Examples of physical processors comprise, without limitation, microprocessors, microcontrollers, Central Processing Units (CPUs), Field-Programmable Gate Arrays (FPGAs) that implement softcore processors, Application-Specific Integrated Circuits (ASICs), portions of one or more of the same, variations or combinations of one or more of the same, or any other suitable physical processor.

[0108] Although illustrated as separate elements, the method steps described and / or illustrated herein may represent portions of a single application. In addition, in some embodiments one or more of these steps may represent or correspond to one or more software applications or programs that, when executed by a computing device, may cause the computing device to perform one or more tasks, such as the method step.

[0109] In addition, one or more of the devices described herein may transform data, physical devices, and / or representations of physical devices from one form to another. Additionally or alternatively, one or more of the modules recited herein may transform a processor, volatile memory, non-volatile memory, and / or any other portion of a physical computing device from one form of computing device to another form of computing device by executing on the computing device, storing data on the computing device, and / or otherwise interacting with the computing device.

[0110] The term “computer-readable medium,” as used herein, generally refers to any form of device, carrier, or medium capable of storing or carrying computer-readable instructions. Examples of computer-readable media comprise, without limitation, transmission-type media, such as carrier waves, and non-transitory-type media, such as magnetic-storage media (e.g., hard disk drives, tape drives, and floppy disks), optical-storage media (e.g., Compact Disks (CDs), Digital Video Disks (DVDs), and BLU-RAY disks), electronic-storage media (e.g., solid-state drives and flash media), and other distribution systems.[OHl] A person of ordinary skill in the art will recognize that any process or method disclosed herein can be modified in many ways. The process parameters and sequence of the steps described and / or illustrated herein are given by way of example only and can be varied as desired. For example, while the steps illustrated and / or described herein may be shown or discussed in a particular order, these steps do not necessarily need to be performed in the order illustrated or discussed.

[0112] The various exemplary methods described and / or illustrated herein may also omit one or more of the steps described or illustrated herein or comprise additional steps inaddition to those disclosed. Further, a step of any method as disclosed herein can be combined with any one or more steps of any other method as disclosed herein.

[0113] The processor as described herein can be configured to perform one or more steps of any method disclosed herein. Alternatively or in combination, the processor can be configured to combine one or more steps of one or more methods as disclosed herein.

[0114] When a feature or element is herein referred to as being "on" another feature or element, it can be directly on the other feature or element, or intervening features and / or elements may also be present. In contrast, when a feature or element is referred to as being "directly on" another feature or element, there are no intervening features or elements present. It will also be understood that, when a feature or element is referred to as being "connected", "attached" or "coupled" to another feature or element, it can be directly connected, attached or coupled to the other feature or element or intervening features or elements may be present. In contrast, when a feature or element is referred to as being "directly connected", "directly attached" or "directly coupled" to another feature or element, there are no intervening features or elements present. Although described or shown with respect to one embodiment, the features and elements so described or shown can apply to other embodiments. It will also be appreciated by those of skill in the art that references to a structure or feature that is disposed "adjacent" another feature may have portions that overlap or underlie the adjacent feature.

[0115] Terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. For example, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items and may be abbreviated as " / ".

[0116] Spatially relative terms, such as "under", "below", "lower", "over", "upper" and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "under" can encompass both an orientation of over and under. The devicemay be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. Similarly, the terms "upwardly", "downwardly", "vertical", "horizontal" and the like are used herein for the purpose of explanation only unless specifically indicated otherwise.

[0117] Although the terms “first” and “second” may be used herein to describe various features / elements (including steps), these features / elements should not be limited by these terms, unless the context indicates otherwise. These terms may be used to distinguish one feature / element from another feature / element. Thus, a first feature / element discussed below could be termed a second feature / element, and similarly, a second feature / element discussed below could be termed a first feature / element without departing from the teachings of the present invention.

[0118] Throughout this specification and the claims which follow, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” and “comprising” means various components can be co-jointly employed in the methods and articles (e.g., compositions and apparatuses including device and methods). For example, the term “comprising” will be understood to imply the inclusion of any stated elements or steps but not the exclusion of any other elements or steps.

[0119] In general, any of the apparatuses and methods described herein should be understood to be inclusive, but all or a sub-set of the components and / or steps may alternatively be exclusive and may be expressed as “consisting of’ or alternatively “consisting essentially of’ the various components, steps, sub-components or sub-steps.

[0120] As used herein in the specification and claims, including as used in the examples and unless otherwise expressly specified, all numbers may be read as if prefaced by the word "about" or “approximately,” even if the term does not expressly appear. The phrase “about” or “approximately” may be used when describing magnitude and / or position to indicate that the value and / or position described is within a reasonable expected range of values and / or positions. For example, a numeric value may have a value that is + / - 0.1% of the stated value (or range of values), + / - 1% of the stated value (or range of values), + / - 2% of the stated value (or range of values), + / - 5% of the stated value (or range of values), + / - 10% of the stated value (or range of values), etc. Any numerical values given herein should also be understood to include about or approximately that value, unless the context indicates otherwise. For example, if the value " 10" is disclosed, then "about 10" is also disclosed. Any numerical range recited herein is intended to include all sub-ranges subsumed therein. It is also understood that when a value is disclosed that "less than or equal to" the value, "greater than or equal to the value" and possible ranges between values are also disclosed, as appropriatelyunderstood by the skilled artisan. For example, if the value "X" is disclosed the "less than or equal to X" as well as "greater than or equal to X" (e.g., where X is a numerical value) is also disclosed. It is also understood that the throughout the application, data is provided in a number of different formats, and that this data, represents endpoints and starting points, and ranges for any combination of the data points. For example, if a particular data point “10” and a particular data point “15” are disclosed, it is understood that greater than, greater than or equal to, less than, less than or equal to, and equal to 10 and 15 are considered disclosed as well as between 10 and 15. It is also understood that each unit between two particular units are also disclosed. For example, if 10 and 15 are disclosed, then 11, 12, 13, and 14 are also disclosed.

[0121] Although various illustrative embodiments are described above, any of a number of changes may be made to various embodiments without departing from the scope of the invention as described by the claims. For example, the order in which various described method steps are performed may often be changed in alternative embodiments, and in other alternative embodiments one or more method steps may be skipped altogether. Optional features of various device and system embodiments may be included in some embodiments and not in others. Therefore, the foregoing description is provided primarily for exemplary purposes and should not be interpreted to limit the scope of the invention as it is set forth in the claims.

[0122] The examples and illustrations included herein show, by way of illustration and not of limitation, specific embodiments in which the subject matter may be practiced. As mentioned, other embodiments may be utilized and derived there from, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. Such embodiments of the inventive subject matter may be referred to herein individually or collectively by the term “invention” merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept, if more than one is, in fact, disclosed. Thus, although specific embodiments have been illustrated and described herein, any arrangement calculated to achieve the same purpose may be substituted for the specific embodiments shown. This disclosure is intended to cover any and all adaptations or variations of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art upon reviewing the above description.

Claims

CLAIMSWhat is claimed is:

1. A wearable garment apparatus for supporting a prosthetic limb, the apparatus comprising: a torso region formed of a compression material; a plurality of support plates positioned on the torso region; and a holster configured to be removably attached at least partially over an arm opening of the torso region by coupling to one or more of the support plates, wherein the holster is configured to hold a socket apparatus for securing the prosthetic limb.

2. The apparatus of claim 1, wherein the torso region comprises a shirt formed of a neoprene material.

3. The apparatus of claim 1, wherein the plurality of support plates includes a shoulder plate, a front plate and one or more: arm plate, side plate and scapular plate.

4. The apparatus of claim 1, wherein each of the plurality of support plates comprises a plurality of layers including one or more stiffening layers.

5. The apparatus of claim 1, wherein each of the plurality of support plates comprises an external loop material.

6. The apparatus of claim 1, wherein each of the plurality of support plates comprises a gripping material on an inner, skin-contacting side of the torso region configured to adhere to a skin surface without sliding.

7. The apparatus of claim 6, wherein a skin-contacting surface of the gripping material is smooth and uninterrupted.

8. The apparatus of claim 6, wherein a skin-contacting surface of the gripping material is coupled to one or more other layers forming each of the one or more support plates by an adhesive or weld.

9. The apparatus of claim 1, further comprising one or more straps configured to connect to one or more of the plurality of support plates.

10. The apparatus of claim 9 wherein the one or more straps comprises a hook structure configured to engage with a loop structure on the one or more of the one or more support plates.

11. The apparatus of claim 1, wherein the holster comprises one or more support plates.

12. The apparatus of claim 1, wherein the holster comprises a shoulder region a back region and a front region, each configured to removably couple to one or more of the support plates on the torso region.

13. The apparatus of claim 1, further comprising a pull loop configured to remove the holster from the torso region.

14. The apparatus of claim 1, further comprising the socket apparatus, wherein the socket apparatus is configured to be worn over a residual limb of a subject and secured within the holster.

15. A wearable garment apparatus for supporting a prosthetic limb, the apparatus comprising: a torso region formed of a compression material; one or more support plates positioned on the torso region adjacent to an arm opening of the torso region, wherein each support plate comprises a gripping region on an inner skin-facing surface of the torso region; and a holster configured to be removably attached at least partially over an arm opening of the torso region by coupling to the one or more support plates, wherein the holster is configured to hold a socket apparatus for securing the prosthetic limb.

16. A wearable garment apparatus for supporting a prosthetic limb, the apparatus comprising: a torso region formed of a compression material; one or more support plates positioned on the torso region adjacent to an arm opening of the torso region, wherein each support plate comprises a gripping region on an inner skin-facing surface of the torso region; a socket apparatus configure to releasably couple to the prosthetic limb; anda holster configured to be removably attached at least partially over an arm opening of the torso region by coupling to the one or more support plates, wherein the holster is configured to hold the socket apparatus.

17. A socket apparatus for use with a powered prosthetic limb, the socket apparatus comprising: an upper socket region configured to fit over a portion of a wearer’s shoulder and / or residual limb; a lower socket region comprising one or more shell parts; wherein the upper socket region is flexibly hinged to the lower socket region; and a lacing sub-system coupling the one or more shell parts of the lower socket region and / or the upper socket region via one or more laces extending at least partially around the upper and / or lower socket regions.

18. The socket apparatus of claim 17, further configured to house at least a portion of a myoelectric interface worn on the wearer’s residual limb within either or both the upper socket region and the lower socket region.

19. The socket apparatus of claim 17, further comprising one or more vents.

20. The socket apparatus of claim 17, wherein the lower socket region comprises one or more attachments for removably coupling to a powered prosthetic limb.

21. The socket apparatus of claim 20, wherein the one or more attachments comprises one or more of a mechanical and electrical attachment.

22. The socket apparatus of claim 17, wherein the upper socket region comprises a plurality of individual petals each flexibly hinged to the lower socket region.

23. The socket apparatus of claim 17, wherein the lacing sub-system comprises a control on the upper or lower socket region configured to adjust tension of the one or more laces.

24. The socket apparatus of claim 17, wherein the lacing sub-system comprises a plurality of channels extending on or in the upper socket region and the lower socket region configured to hold the one or more laces.

25. The socket apparatus of claim 17, wherein the one or more laces comprises a metallic, polymeric or natural fiber.

26. The socket apparatus of claim 17, further comprising an upper socket pad configured to be worn in the upper socket region.

27. The socket apparatus of claim 17, wherein the upper socket region is flexibly hinged to the lower socket region via a living hinge.

28. The socket apparatus of claim 17, further comprising a myoelectric adapter configured to be worn on a subject’s residual limb and secured by the socket apparatus.

29. The socket apparatus of claim 17, wherein the one or more laces comprises an elastomeric material.

30. The socket apparatus of claim 17, further comprising a porous pad within the lower socket region.

31. A socket apparatus for use with a powered prosthetic limb, the socket apparatus comprising: an upper socket region configured to fit over a portion of a wearer’s shoulder and / or residual limb; a lower socket region comprising a shell, wherein the lower socket region is configured to house a myoelectric interface to be worn on the wearer’s residual limb; wherein the upper socket region is flexibly hinged to the lower socket region; and a lacing sub-system coupling the shell of the lower socket region and the upper socket region via one or more laces extending at least partially around the upper and lower socket regions; and a control configured to adjust tension of the one or more laces.

32. A socket apparatus for use with a powered prosthetic limb, the socket apparatus comprising: an upper socket region configured to fit over a portion of a wearer’s residual limb, the upper socket region comprising a plurality of petals, wherein the upper socket region is configured to house at least a portion of a myoelectric interface when the myoelectric interface is worn on the wearer’s residual limb;a lower socket region comprising a shell; wherein each petal of the upper socket region is flexibly hinged to the lower socket region; and a lacing sub-system coupling the petals of the upper socket region via one or more laces extending at least partially around the upper and lower socket regions; and a control configured to adjust tension of the one or more laces.

33. A method of wearing a prosthetic limb, the method comprising: donning, by a subject, a torso region of a wearable garment; placing a myoelectric interface over a residual limb of the subject; attaching a socket over the myoelectric interface; attaching a holster at least partially over an arm opening of the torso region of the wearable garment by coupling the holster to one or more support plates on the wearable garment; coupling the socket into the holster; and coupling the prosthetic limb to one or more attachments of the socket.

34. The method of claim 33, further comprising securing the socket over the myoelectric interface by applying tension to tension one or more laces of a lacing sub-system of the socket.

35. The method of claim 33, wherein coupling the prosthetic limb comprises coupling a powered prosthetic limb.

36. The method of claim 33, wherein donning the torso region comprises positioning one or more gripper surfaces underlying each of the one or more support plates against the subject’s skin.

37. The method of claim 33, wherein the myoelectric interface is attached before donning the torso region.

38. The method of claim 33, further comprising attaching one or more straps to the one or more support plates on the wearable garment to secure the wearable garment to the subject.

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