Body harness

Abstract

A body harness (10) to be worn on a torso of a human user to support an arm exoskeleton (14). The body harness (10) comprises a backplate (40), a shoulder portion (30) fixedly coupled to the backplate (40) and a first shoulder joint interface (20) fixedly coupled to the shoulder portion (30) for receiving a second shoulder joint interface (22) of an arm exoskeleton (14). The first shoulder joint interface (20), the shoulder portion (30) and the backplate (40) are all fixed relative to each other. A ribcage band (50) has a central portion (52) is fixedly coupled to the backplate (40) and first and second distal ends (54, 56) extending in opposite directions from the central portion (52). The body harness (10) transfers forces from the shoulder joint interface (20) to the user's ribcage through the shoulder portion (30), the backplate (40) and the ribcage band (50).

Description

[0001] 174363 / 01

[0002] BODY HARNESS

[0003] TECHNICAL FIELD

[0004] This disclosure relates to body harnesses for orthotic devices. In particular, this disclosure relates to body harnesses for supporting an arm exoskeleton.

[0005] BACKGROUND

[0006] Assistive orthotic medical devices exist to support a user in the functional activities of daily living. A user may have a motor impairment in a limb, for example as a result of a medical condition such as a stroke or a brachial plexus injury. Such an impairment may affect an upper limb, meaning that the user’s arm is severely weakened, making several activities very difficult or impossible. Support for the upper limb, to help the user with arm function, may be provided by a passive orthotic device, such as a brace.

[0007] To help secure an orthotic device and counteract its weight, for example to avoid all of the weight of an arm exoskeleton being carried by a user’s arm, the orthotic device may include a harness for attachment to the user’s torso. However, existing harnesses for passive orthotic devices are not suitable for powered orthotic devices that provide motorized assistance to the user’s shoulder joint. A powered orthotic device uses a power source, such as a battery, to actively support the upper limb and provide powered assistance to limb movements. As well as carrying additional weight from the battery and other powered systems, by providing motorized assistance during shoulder flexion, further forces are created which also need to be counteracted by the harness.

[0008] Some existing support devices transfer the weight and other forces from an orthotic device externally to the user, for example through attachment to a table, wheelchair or floor-standing rack. However, these support devices are not mounted to the user themselves, which restricts the mobility of the user.

[0009] Some existing support devices include a system of straps that make it difficult or impossible for a user with a weakened arm to put on themselves, as they may have only one fully functional arm / hand. This is detrimental to the user’s independence.

[0010] US2016 / 0051388A1 discloses an orthotic device for an arm and shoulder that is attached to a trunk of a user through a cuff and a number of straps that wrap around the user. The arm brace for the user’s right arm is attached to the left lateral side of the trunk cuff via several hinged joints, it may be challenging for a user with a weakened arm to put the harness on themselves.

[0011] There is a need for an improved harness for supporting a powered orthotic device mounted to a user’s arm. In particular, there is a need for a harness that allows a user to put on and take off the orthotic device independently with one hand.

[0012] SUMMARY

[0013] An aspect of the present disclosure provides a body harness configured to be worn on a torso of a human user for mounting an arm exoskeleton to the torso, the body harness comprising: a backplate configured to rest against the user’s back when the harness is worn; a shoulder portion fixedly / rigidly coupled to the backplate and configured to rest on a proximal portion of the user’s shoulder on a first lateral side of the user’s torso when the harness is worn, wherein the backplate and the shoulder portion are fixed in place relative to each other; a shoulder joint interface fixedly / rigidly coupled to the shoulder portion and configured to be coupled to (i.e., for receiving a second shoulder joint interface of) an arm exoskeleton, the shoulder joint interface configured to be spaced above a distal portion of the user’s shoulder when the harness is worn, wherein the first shoulder joint interface is fixed in place relative to the shoulder portion and the backplate; a ribcage band comprising a central portion and first and second distal ends extending in opposite directions from the central portion, wherein the central portion is fixedly / rigidly coupled to the backplate and configured to rest against the user’s back below the backplate, the first distal end is configured to extend around and rest against the first distal side of the user’s ribcage when the body harness is worn, and the second distal end is configured to extend around and rest against a second lateral side of the user’s ribcage when the body harness is worn, wherein the body harness is configured to transfer forces from the shoulder joint interface to the user’s ribcage through the shoulder portion, the backplate and the ribcage band.

[0014] In some embodiments of the above, the ribcage band has a length extending in a length direction from the first distal end to the second distal end and a width extending in a width direction between a first side and a second side opposite to the first side, and the first side and the second side are fixed in place relative to each other in the width direction. In some embodiments of any of the above, at least one of the first and second distal ends of the ribcage band is movable in a direction within a transverse plane relative to the central portion of the ribcage band.

[0015] In some embodiments of any of the above, the backplate and at least part of the ribcage band are formed as a single monolithic piece that is fixedly / rigidly coupled to the remaining part of the ribcage band.

[0016] In some embodiments of any of the above, the body harness further comprises a chest portion fixedly / rigidly coupled to the shoulder portion and configured to rest against the user’s chest on the first lateral side of the user’s torso when the harness is worn, the chest portion fixed in place relative to the shoulder portion and backplate.

[0017] In some embodiments of the above, the chest portion is fixedly / rigidly coupled to the first lateral end of the ribcage band to form an aperture for the user’s arm on the first lateral side to extend through when the body harness is worn. In some embodiments of any of the above, the aperture is rigidly bound by the shoulder portion, back portion, ribcage band and chest portion.

[0018] In some embodiments of any of the above, the chest portion is integral with the shoulder portion.

[0019] In some embodiments of any of the above, the chest portion is a rigid piece that extends on only one lateral side of the body harness, such that the chest portion does not extend to the user’s chest on the second lateral side of the user’s torso when the body harness is worn.

[0020] In some embodiments of any of the above, the second lateral end of the ribcage band supports itself as a cantilever free end.

[0021] In some embodiments of any of the above, the body harness is a singleshoulder body harness that, when worn by a user, extends to, or is in contact with, only one shoulder of the user.

[0022] In some embodiments of any of the above, the backplate is fixedly / rigidly coupled to the ribcage band at a point between the first and second distal ends.

[0023] In some embodiments of any of the above, wherein the shoulder portion, backplate and at least part of the ribcage band are integral such that they form a single monolithic piece that is fixedly / rigidly coupled to the remaining part of the ribcage band.

[0024] In some embodiments of any of the above, the body harness further comprises a fastening system for securing the body harness to the user’s torso. In some embodiments of the above, the fastening system comprises one or more adjustable straps configured to extend across the front of the user’s torso when the harness is worn.

[0025] In some embodiments of any of the above, the fastening system comprises a hinged plate configured to rest on the front of the user’s torso when the harness is worn.

[0026] In some embodiments of any of the above, the shoulder joint interface is configured to receive a shoulder joint interface of an arm exoskeleton to allow the arm exoskeleton to pivot relative to the shoulder portion.

[0027] In some embodiments of any of the above, the shoulder joint interface comprises a base rigidly coupled to the shoulder portion, and an engagement portion pivotally coupled to the base, wherein the engagement portion is configured to be coupled to an arm exoskeleton.

[0028] In some embodiments of any of the above, the shoulder joint interface comprises a first engagement portion configured to receive a second engagement portion of a shoulder joint interface of an arm exoskeleton to couple the shoulder joint interfaces together and allow the arm exoskeleton to pivot relative to the shoulder portion.

[0029] Another aspect of the present disclosure provides a wearable arm exoskeleton system comprising: the body harness of the above aspect and of the above embodiments, wherein the shoulder joint interface is a first shoulder joint interface and comprises a first engagement portion; and an arm exoskeleton comprising a second shoulder joint interface comprising a second engagement portion, wherein the first engagement portion and the second engagement portion are configured to be coupled together such that the first and second shoulder joint interfaces form a pivoting shoulder joint.

[0030] In some embodiments of the above, the first and second engagement portions form a rigid coupling when coupled together, the first shoulder joint interface comprises a base rigidly coupled to the shoulder portion, and the first engagement portion is pivotally coupled to the base to provide the pivoting shoulder joint.

[0031] In some embodiments of any of the above, the system further comprises a latching system configured to automatically lock the first and second engagement portions together when they are fully engaged to prevent separation of the first and second shoulder joint interfaces, wherein the latching system comprises a releasing mechanism for unlocking the first and second engagement portions to allow separation of the first and second shoulder joint interfaces.

[0032] In some embodiments of any of the above, the pivoting shoulder joint comprises a locking mechanism for selectively locking and unlocking relative rotation of the pivoting shoulder joint between the first and second shoulder joint interfaces.

[0033] Another aspect of the present disclosure provides a shoulder joint mechanism for coupling an arm exoskeleton to a body harness, the mechanism comprising: a first shoulder joint interface comprising a first engagement portion; a second shoulder joint interface comprising a second engagement portion shaped to mate with the first engagement portion; a latching mechanism configured to automatically lock the first and second engagement portions together when they are seated together; a releasing mechanism configured to selectively release the latching mechanism.

[0034] In some embodiments of any of the above, the first engagement portion comprises a protrusion and the second engagement portion comprises a recess, the protrusion and recess having complementary shapes comprising at least one slanted or rounded surface.

[0035] BRIEF DESCRIPTION OF DRAWINGS

[0036] One or more non-limiting examples will now be described, by way of example only, and with reference to the accompanying figures in which:

[0037] Figures 1A, 1 B and 1C show perspective, front and side views of a body harness in accordance with an embodiment of the present disclosure being worn on a user’s torso and having an arm exoskeleton mounted thereto;

[0038] Figures 2A and 2B show front and perspective views of the body harness of Figure 1A worn on a user’s torso without the arm exoskeleton;

[0039] Figures 3A and 3B show perspective and front views of a body harness in accordance with another embodiment of the present disclosure;

[0040] Figure 4 shows a perspective view of a body harness in accordance with another embodiment of the present disclosure;

[0041] Figures 5A and 5B show perspective views of a body harness in accordance with another embodiment of the present disclosure;

[0042] Figure 50 shows a perspective view of a body harness in accordance with another embodiment of the present disclosure;

[0043] Figures 6A and 6B show a body harness in accordance with another embodiment of the present disclosure; Figure 7 shows a body harness with a shoulder joint mechanism in accordance with another embodiment of the present disclosure;

[0044] Figures 8A, 8B and 8C show cross-sectional views of the shoulder joint mechanism of Figure 7;

[0045] Figure 9 shows a perspective view of a shoulder joint mechanism according to another embodiment of the present disclosure;

[0046] Figure 10 shows a cross-sectional view of the shoulder joint mechanism of Figure 9; and

[0047] Figures 11A and 11 B show perspective and front views of the body harness and Figures 11C and 11 D show perspective views of the body harness and arm exoskeleton in different stages of mounting comprising a shoulder joint mechanism according to another embodiment of the present disclosure.

[0048] DETAILED DESCRIPTION

[0049] In accordance with the present disclosure, Figures 1A to 2B show a body harness 10 for supporting a powered orthotic device 12 for an upper limb. Figures 1A-C show an example of powered orthotic device 12 mounted to the body harness 10 and worn by a user, and Figures 2A and 2B show just the body harness 10 worn by a user, without the powered orthotic device 12. The example powered orthotic device 12 shown in Figures 1A-C comprises an arm exoskeleton 14 with orthoses for being mounted to a user’s arm. The powered orthotic device 12 may also comprise additional components, such as a battery pack, sensor units and a controller (not shown) which add to the weight of the device 12 on the user’s arm that needs to be carried by the user. Alternatively, the body harness 10 may support an arm exoskeleton 14 without additional components of a powered orthotic device 12.

[0050] The body harness 10 is designed to be worn on a user’s upper torso to transfer the weight of the powered orthotic device 12 and other forces generated by movements of the powered orthotic device 12 to the user’s torso. The body harness 10 includes a harness shoulder joint interface 20 for attachment to a corresponding exoskeleton shoulder joint interface 22 of the arm exoskeleton 14. The harness shoulder joint interface 20 may comprise an engagement member 72 for engagement with the exoskeleton shoulder joint interface 22. In some embodiments, the body harness 10 may also be provided to carry two arm exoskeletons 14, for example for a user with two weakened arms that need assistance. In other embodiments, the harness 10 may be utilized to carry one or two passive arm braces or passive arm exoskeletons without powered assistance to support the arm, for example after an arm injury.

[0051] With additional reference to Figures 3A to 4, the body harness 10 further comprises a shoulder portion 30, backplate 40 and ribcage band 50. The body harness 10 may also comprise a chest portion 60, in accordance with the embodiment of Figure 4, as well as Figures 1A to 2B, but may alternatively be provided without a chest portion 60, in accordance with the embodiment of Figures 3A and 3B.

[0052] The body harness 10 can be tailored to fit a user’s specific anatomy. In the following embodiments, the body harness 10 is designed to be worn with a powered orthotic device 12 or a passive arm exoskeleton 14 (or another type of arm brace) mounted to one (weakened) arm of the user. This can be the left or right arm of the user, so will be referred to as the arm on the first lateral side of the user’s torso. The other (stronger / functional) arm of the user is thus on the second lateral side of the user’s torso. The first lateral side refers to one of the left and right side of the user’s torso, and the second lateral side refers to the other of the left and right side of the user’s torso.

[0053] The shoulder portion 30 is configured to sit on the user’s shoulder and supports the shoulder joint interface 20. The shoulder portion 30 sits on the shoulder on the first lateral side of the user’s torso, i.e. , the shoulder of the arm that is to be supported by the exoskeleton 14 or assisted by the powered orthotic device 12. The shoulder portion 30 is designed to rest on proximal portion of the user’s shoulder, for example on the trapezium muscle close to the neck. The shoulder joint interface 20 projects distally from the shoulder portion 30 over a distal portion of the user’s shoulder (e.g., the tip of the shoulder, but at a spaced position above the user’s shoulder so that the interface 20 is not resting on the user’s shoulder. The shoulder joint interface 20 receives the weight and other forces from the exoskeleton 14, and transmits the force from the shoulder joint interface 20 to the shoulder portion 30 located at a stronger part of the shoulder to make it easier for the user to bear the weight of the exoskeleton 14 or the powered orthotic device 12.

[0054] The shoulder portion 30 comprises a front end 32 which extends in the direction towards the front of the body harness 10 and the user’s chest, and a rear end 34 which extends in the direction of the back of the body harness 10 and the user’s back. The shoulder portion 30 is rigid, such that the positions of the front end 32 and the rear end 34 are fixed relative to each other. The rigidity of the shoulder portion 30 helps to control the transmission of ferees from the shoulder joint interface 20 to the user’s shoulder. The shoulder portion 30 may also be rounded to fit ergonomically or snugly on the user’s shoulder, and may be precisely dimensioned to follow the user’s specific shoulder contours. The rigidity and ergonomic fit of the shoulder portion 30 may each help to avoid displacement of the shoulder portion 30 relative to the user’s shoulder to ensure correct transmission of forces from the shoulder joint interface 20 and minimise any pain or discomfort that may otherwise be caused by the harness 10.

[0055] The backplate 40 is configured to rest against the user’s upper back and comprises an upper portion 42 and a lower portion 44. The upper portion 42 is rigidly / fixedly coupled to the rear end 34 of the shoulder portion 30 and the lower portion 44 is rigidly / fixedly coupled to the ribcage band 50. The backplate 40 is rigid, such that the positions of the upper portion 42 and lower portion 44 are fixed relative to each other to control the transfer of forces between the shoulder portion 30 and the ribcage band 50. The backplate 40 may also be shaped and dimensioned to follow the contours of the user’s back for increased comfort and to help avoid displacement relative to the user’s torso. The rigidity and snug fit of the backplate 40 may each help to avoid displacement of the backplate 40 relative to the user’s torso to ensure correct transfer of forces and minimise any pain or discomfort that may otherwise be caused by the harness 10.

[0056] As well as being rigid in themselves, the shoulder joint interface 20, shoulder portion 30 and backplate 40 are rigidly / fixedly connected to each other to minimise movement between the pieces during normal usage of the body harness 10 and exoskeleton 14, and to control the transfer of forces generated by the weight of the exoskeleton 14 (or powered orthotic device 12) and movements of the user’s body. The shoulder joint interface 20, shoulder portion 30 and backplate 40 are stiff under compression and tension, which provides a rigidity that allows the body harness 10 to retain its shape under its own weight in any orientation and under normal, expected loads.

[0057] The ribcage band 50 is configured to extend laterally at least partially around the user’s ribcage and comprises a central portion 52 configured to rest against the user’s spine, and first and second distal ends 54, 56 extending from opposite lateral sides of the central portion 52. The central portion 52 is rigidly / fixedly connected to the lower portion 44 of the backplate 40, and may comprise an upward extension 58 which interfaces with the backplate 40, as shown in Figures 6 A and 6B. For example, the upward extension 58 may be bolted to the lower portion 44 of the backplate 40. In other examples, the ribcage band 50 is integral with the backplate 40. The first distal end 54 curves around and rests against the first lateral side of the user’s ribcage. The second distal end 56 curves around and rests against the second lateral side of the user’s ribcage.

[0058] The ribcage band 50 is rigid at least in a transverse direction, such that its upper side 57 is fixed in place relative to its lower side 59 along a transverse axis (i.e., vertical axis). For example, there is a high resistance to bending along a line extending across the ribcage band 50 from the first distal end 54 to the second distal end 56. The transverse direction corresponds to a vertical direction when a user is wearing the harness 10 in a normal upright position, and a longitudinal direction through the user’s body. In other words, considering the ribcage band 50 to define a length from the first distal end 54 to the second distal end 56, the upper side 57 and lower side 59 are fixed in place relative to each other in the width direction of the ribcage band 50.

[0059] In some embodiments, the ribcage band 50 exhibits some flexibility in a lateral direction such that at least one of the first distal end 54 and the second distal end 56 is movable relative to the other distal end 54, 56 or to the central portion 52 in a transverse plane, relative to a vertical axis. The transverse plane is defined as orthogonal to the transverse axis. This flexibility may assist with comfort and putting the device on.

[0060] The body harness 10 does not extend below the ribcage band 50, i.e., below the user’s ribs when worn, which makes it easier for the user to move in the rigid harness compared to a harness that is strapped around the waist or hips. For example, the user can sit down more easily when wearing a harness that does not extend below their ribs. The body harness 10 transfers forces from the exoskeleton 14 (or the powered orthotic device 12) at the user’s shoulder to the user’s ribcage, which is a strong and rigid structure of the human torso and so is an optimal area for absorbing forces from the powered orthotic device, particularly compared to the waist or arm.

[0061] The rigidity of the body harness 10 helps to minimise relative displacement between the body harness 10 and the torso to control the transferal of loads from the exoskeleton 14 to the user’s torso and avoid malformation of the harness 10 that could lead to painful pressures in softer or weaker parts of the body. Minimising the displacement of the harness 10 on the user’s torso, helps to ensure that the forces from the exoskeleton 14 are sufficiently transferred to the ribcage of the user.

[0062] The rigidity of the body harness 10 also enables a user to put the harness 10 on using only one hand, which is important for users who are using the body harness to support a powered orthotic device to assist movements of a weakened arm, i.e., they may not be able to use the weakened arm to help put the body harness 10 on. The user can pick up the body harness 10 using one hand at any location and it will retain its shape to allow the user to place it over the weakened arm and shoulder and allow it to rest in place on their torso. For example, the user may lift the harness 10 by the shoulder portion 30 and move the harness 10 into place with the ribcage band 50 around their ribs.

[0063] In some embodiments, the body harness 10 comprises a chest portion 60, which extends between a upper portion 62 and a lower portion 64 on the first lateral side of the user’s torso, as shown in Figures 1 A to 2B and 4. The upper portion 62 is rig id ly / f ixed ly coupled to the front end 32 of the shoulder portion 30. The lower portion 64 may be rigidly / fixedly coupled to the first distal end 54 of the ribcage band 50 to form an aperture 63 below the shoulder portion 30 through which the (weakened) arm to be attached to the exoskeleton 14 extends. The chest portion 60 is also rigid, such that the positions of the upper portion 62 and lower portion 64 are fixed relative to each other to control the transmission of forces between the shoulder portion 30 and the ribcage band 50. The user can thus pick up the harness 10 by the rigid chest piece 60 with one functional hand and easily slot their weakened arm through the aperture 63 to put the body harness 10 on. The chest portion 60 may also be shaped and dimensioned to follow the contours of the user’s chest for increased comfort and to help avoid displacement relative to the user’s torso. The rigidity and snug fit of the chest portion 60 may each help to avoid displacement of chest portion 60 relative to the user’s torso to ensure correct transmission of forces and minimise any pain or discomfort that may otherwise be caused by the harness 10.

[0064] The rigidity / stiffness of the body harness 10 may be achieved through the choice of materials and / or geometry. Stiffness is a function of the material properties such as Youngs modulus and shear modulus, and geometric properties such as second (area) moment of inertia, area, length and thickness. For example, using 3D printed nylon or prepreg carbon fibre together with specific geometries can provide the harness 10 with a high second moment of inertia in directions where forces are the highest. The body harness 10 is primarily designed to support a single arm exoskeleton 14 for a user with one arm that is weaker than the other and needs assistance, and to enable the user to don the body harness 10 independently. All of the drawings show the single-arm embodiments. The shoulder portion 30 of the body harness 10 therefore extends over just one of the user’s shoulders and the chest portion 60, if present, extends over just one lateral side of the user’s chest (the same side as the shoulder portion 30). There is thus only one aperture 63 through which the user’s arm needs to pass in order to don the harness 10. This makes it easier for a user to put the harness 10 on independently when they can only use one arm to lift and adjust the harness 10. The user can pick up the harness 10 with one functional hand, for example by the rigid chest piece 60, and easily slot their weakened arm through the aperture 63 and / or mount the shoulder portion 30 on the shoulder of their weakened arm to put the harness 10 on. There is no need to simultaneously or subsequently mount any part of the harness 10 on the other shoulder, which could be very difficult to do if the opposite hand has little strength or mobility.

[0065] This ribcage band 50 still extends around both sides of the user’s ribcage to make the harness 10 more stable and to make it easier and more comfortable to bear the weight of the exoskeleton. However, one or both of the distal ends 54, 56 of the ribcage band can be free cantilevered ends, so that there is no hindrance to mounting the harness 10 on the torso.

[0066] The harness 10 may include a soft padding 61 lining the inside surfaces of the harness 10 to provide a larger contact surface area for the transfer of forces from the harness 10 to the body of the user. The padding 61 may be present with uniform thickness across the entire inner surface of the harness 10, or may be present only in certain portions of the harness 10, and may be of different thicknesses.

[0067] With reference to Figures 5A-C, the harness 10 may further comprise one or more fastening systems 65 to help secure the body harness 10 on the user’s torso and further prevent displacement of the body harness 10. For example, the fastening system 65 may comprise one or more straps 66 and / or a hinged plate 67 extending across the front of the user’s torso. The one or more straps 66 and / or hinged plate 67 may extend between the first and second distal sides 54, 56 of the ribcage band 50, and / or between one of the distal sides 54, 56 and the chest piece 60. With reference to the embodiment shown in Figures 5A and 5B, each strap 66 is fixed to one lateral side of the harness 10 and there may be a rigid loop 68 for the strap 66 on the opposite side of the harness 10 to make it easier for the user to secure the straps 66 with one hand. Other ways of securing the straps 66 across the harness 10 may additionally or alternatively be provided, such as a hook and loop fastener. With reference to the embodiment shown in Figure 5C, the hinged plate 67 may comprise a latch 69 or similar mechanism that can be operated with one hand for securing the distal end of the hinged plate 67 to the body harness 10.

[0068] The shoulder joint interface 20, shoulder portion 30, backplate 40 and ribcage band 50, and chest portion 60 if present, may be provided as any number of separate rigid pieces that are rigidly / fixedly coupled together. Alternatively, they may be provided as a single monolithic piece, in accordance with the embodiments of Figures 3A to 5B, or two or more monolithic pieces rigidly / fixedly connected together. In the embodiment shown in Figures 6A and 6B, the shoulder joint interface 20, shoulder portion 30, backplate 40, part of the ribcage band 50 and the chest piece 60 are provided as a first monolithic piece 100, and the other part of the backplate 40 and the other part of the ribcage band 50 are provided as a second monolithic piece 200. The monolithic pieces are rigidly connected between the upward extension 58 of the ribcage band 50 and the lower portion 44 of the backplate 40, for example using screws. The shoulder joint interface 20 may be provided as a separate piece and be rigidly connected to the shoulder portion 30, such as by a bolted connection, or may be integral with the shoulder portion 30.

[0069] With particular reference to Figures 7 to 11 , the shoulder joint interface 20 of the body harness 10 and a corresponding shoulder joint interface 22, such as that of the exoskeleton 14 (or, e.g., an arm brace), provide a shoulder joint mechanism 70 that can be easily engaged and disengaged for easy attachment of the shoulder joint interfaces 20, 22, for example when mounting the exoskeleton 14 to the body harness 10, using just one hand. When the shoulder joint interfaces 20, 22 are engaged, they provide a pivot joint 71 for shoulder internal rotation and extension.

[0070] The shoulder joint mechanism 70 comprises a first engagement portion 72 that mates with a second engagement portion 74. As shown in Figures 7 and 8A-C, the first engagement portion 72 has a cone-shaped protrusion and the second engagement portion 74 has a complementary cone-shaped recess. The conical surfaces make it easier for the engagement portions 72, 74 to slide into engagement, which is useful when a user is mounting the exoskeleton 14 to the body harness 10 while wearing the body harness 10, as there may be reduced visibility for the user of the mechanism 70 at its position by the user’s shoulder. The corresponding cone shapes also allow for a secure fit between the engagement portions 72, 74 when the harness shoulder joint interface 20 and the exoskeleton shoulder joint interface 22 are assembled. However, other shapes, particularly complementary recess and protrusion shapes, and / or slanted / rounded surfaces, may be used for the engagement portions 72, 74. In the depicted embodiment, the first engagement portion 72 is provided on the body harness shoulder interface 20 and the second engagement portion 74 is provided on the exoskeleton shoulder joint interface 22, but other embodiments may have the engagement portions 72, 74 the other way around.

[0071] Figures 8A-C demonstrate the engagement of the shoulder joint mechanism 70. The engagement portions 72, 74 automatically lock together when the first engagement portion 72 is fully seated in the second engagement portion 74 using a latching system 76 such as a spring-loaded latch 76. This prevents the shoulder joint interfaces 20, 22 accidentally detaching, and the automatic locking makes it easier to secure the exoskeleton 14 with one hand. When locked together, the shoulder joint interfaces 20, 22 may provide a pivot joint 71 to allow the exoskeleton 14 to pivot with respect to the body harness 10. The shoulder joint interfaces 20, 22 may be selectively locked to prevent pivoting.

[0072] The spring-loaded latch 76 may comprise latching members 78 having detents 80 on the first engagement portion 72 and a flanged opening 82 on the second engagement portion 74. As shown in Figure 8B, when the second engagement portion 74 is being seated over the first engagement portion 72, the ends of the latching members 78 and the detents 80 pass through the flanged opening 82, which bends the latching members 78 towards each other to make room for the detents 80. As shown in Figure 8C, when the second engagement portion 74 is fully seated over the first engagement portion 72, the detents 80 are located on the upper side of the flanged opening 82 which locks the engagement portions 72, 74 together and thus prevents disengagement of the shoulder joint interfaces 20, 22. This allows the shoulder interfaces 20, 22 to be easily joined together and locked in placed by a user wearing the body harness 10 and holding the exoskeleton 14 with just one hand.

[0073] T o separate the shoulder joint interfaces 20, 22 after the engagement portions 72, 74 have been locked together, the latch 76 can be disengaged by bending the latching members 78 towards each other to allow the detents 80 to pass back through the flanged opening 82. The exoskeleton 14 then can be lifted to disengage the first engagement portion 72 from the second engagement portion 74. This can also be done with just one hand by the user wearing the body harness.

[0074] Figures 11A-D show an alternative embodiment of a shoulder joint mechanism 170. Figures 11A and 11 B show just the body harness 10 with the shoulder joint mechanism 71. Figure 11C shows the body harness 10 and arm exoskeleton 14 before assembly, and Figure 11 D shows the assembled unit of the body harness 10 and arm exoskeleton 14. The pivoting shoulder joint 71 is provided by a pivot within the harness shoulder joint interface 20 and, when the exoskeleton 14 is coupled to the harness 10, the first and second engagement portions 72, 74 are rigidly coupled together. The harness shoulder joint interface 20 comprises a base 73 rigidly coupled to the shoulder portion 30, and the first engagement portion 72 is pivotally coupled to the base 73.

[0075] The second engagement portion 74 of the exoskeleton shoulder joint interface 22 engages with the first engagement portion 72 to provide a rigid coupling. The first engagement portion 72 comprises a slot 172, and the second engagement portion 74 comprises a protrusion 174 shaped to fit snugly within the slot 172. The protrusion 174 comprises one or more flanges 176 that guide the protrusion 174 vertically downwards (relative to the harness being worn on an upright torso) into the slot 172 and prevent lateral movement between the engagement portions 72, 74 and inadvertent decoupling. The second engagement portion 74 comprises a spring- loaded locking pin 178 below the protrusion 174 that engages against an outer rim 180 of the first engagement portion 72 when the protrusion 174 is sitting fully within the slot 172. The locking pin 178 prevents vertical movement between the engagement portions 72, 74 to help secure the shoulder joint mechanism 170.

[0076] To disengage the engagement portions 72, 74 to decouple the exoskeleton from the harness 10, the locking pin 178 is retracted against its spring bias force by a cord and external ring pull 182. With the retracted the locking pin 178, the protrusion 174 is free to slide upwards out of the slot 172. The external ring pull 182 is located at the front of the exoskeleton upper arm portion to allow easy access to allow the user to remove the exoskeleton 14 from the body harness 10 themselves with just the hand that is not wearing the exoskeleton 14.

[0077] With reference to Figures 1 B, 9, 10 and 11A-B , the shoulder joint mechanism 70, 170 provides internal rotation about a rotational axis 84 that is designed to approximately correspond to the internal rotation axis of the user’s shoulder joint. The internal rotation of the shoulder joint mechanism 70, 170 can be carried out freely by the user’s own voluntary force using the pivot joint 71 formed by the shoulder joint mechanism 70, 170 along the rotational axis 84.

[0078] In some embodiments, the internal rotation of the shoulder joint mechanism 70, 170 may be selectively locked in one or more rotational positions. For example, the embodiment of Figures 9 and 10, a locking mechanism 85 comprises a spring- loaded pin 86 that can be locked into one or more grooves or openings 88 to lock the rotation when the shoulder joint mechanism 70 is in a desired or pre-set position. As shown in Figure 9, a plurality of openings 88 may be provided at a range of rotational positions. The locking and unlocking of the pin 86 in the openings 88 can be operated by the user using one functional hand. In the embodiment of Figures 11A-D, a locking bolt may be provided on the base 73 of the harness shoulder joint interface 20 to control the pivoting between the base 73 and the first engagement portion 72. By tightening the locking bolt, the internal rotation between the base 73 and the first engagement portion 72 can be locked. Loosening the bolt unlocks the internal rotation. The locking and unlocking can be done by the user independently with one hand, for example using a tool.

[0079] The body harness 10 can be fully tailored to fit a specific user. For example, a 3D scan of the user’s body can be taken, and the user’s proportions then used to size the various components of the harness 10. A 3D scan of the user can also be used along with knowledge about human anatomy to ensure correct abduction of the exoskeleton 14 and / or to ensure that the rotational centre of the user’s shoulder is aligned with the rotational centre of the shoulder joint mechanism 70 when the user is wearing the harness 10 with the exoskeleton 14 (or an arm brace) attached to minimise unwanted forces on the user’s shoulder during movement.

Claims

CLAIMS1. A body harness (10) configured to be worn on a torso of a human user for mounting an arm exoskeleton (14) to the torso, the body harness (10) comprising: a backplate (40) configured to rest against the user’s back when the body harness (10) is worn; a shoulder portion rigidly coupled to the backplate (40) and configured to rest on a proximal portion of the user’s shoulder on a first lateral side of the user’s torso when the body harness (10) is worn, wherein the backplate (40) and the shoulder portion (30) are fixed in place relative to each other; a shoulder joint interface (20) rigidly coupled to the shoulder portion (30) and configured to be coupled to an arm exoskeleton (14), the shoulder joint interface (20) configured to be spaced above a distal portion of the user’s shoulder when the body harness (10) is worn, wherein the first shoulder joint interface (20) is fixed in place relative to the shoulder portion (30) and the backplate (40); a ribcage band (50) comprising a central portion (52) and first and second distal ends (54, 56) extending in opposite directions from the central portion (52), wherein the central portion (52) is rigidly coupled to the backplate (40) and configured to rest against the user’s back below the backplate (40), the first distal end (54) is configured to extend around and rest against the first distal side of the user’s ribcage when the body harness (10) is worn, and the second distal end (56) is configured to extend around and rest against a second lateral side of the user’s ribcage when the body harness (10) is worn, wherein the body harness (10) is configured to transfer forces from the shoulder joint interface (20) to the user’s ribcage through the shoulder portion (20), the backplate (40) and the ribcage band (50).

2. The body harness of claim 1 , wherein the ribcage band (50) has a length extending in a length direction from the first distal end (54) to the second distal end (56) and a width extending in a width direction between a first side (57) and a second side (59) opposite to the first side (57), and the first side (57) and the second side (59) are fixed in place relative to each other in the width direction.

3. The body harness of claim 2, wherein at least one of the first and second distal ends (54, 56) of the ribcage band (50) is movable in a direction within a transverse plane relative to the central portion (52) of the ribcage band (50).

4. The body harness of claim 1 , 2 or 3, wherein the backplate (40) and at least part of the ribcage band (50) are formed as a single monolithic piece that is rigidly coupled to the remaining part of the ribcage band (50).

5. The body harness of any preceding claim, further comprising a chest portion (60) rigidly coupled to the shoulder portion (30) and configured to rest against the user’s chest on the first lateral side of the user’s torso when the body harness (10) is worn, wherein the chest portion (60) is fixed in place relative to the shoulder portion (30) and backplate (40).

6. The body harness of claim 5, wherein the chest portion (60) is rigidly coupled to the first lateral end (52) of the ribcage band (50) to form an aperture (63) for the user’s arm on the first lateral side to extend through when the body harness (10) is worn.

7. The body harness of claim 6, wherein the aperture (63) is rigidly bound by the shoulder portion (30), back portion (40), ribcage band (50) and chest portion (60).

8. The body harness of any of claims 5, 6 or 7, wherein the chest portion (60) is integral with the shoulder portion (30).

9. The body harness of any of claims 5 to 8, wherein the chest portion (60) is a rigid piece that extends on only one lateral side of the body harness (10), such that the chest portion (60) does not extend to the user’s chest on the second lateral side of the user’s torso when the body harness (10) is worn.

10. The body harness of any preceding claim, wherein the second lateral end (56) of the ribcage band (50) supports itself as a cantilever free end.

11. The body harness of any preceding claim, wherein the body harness (10) is a single-shoulder body harness (10) that, when worn by a user, extends to only one shoulder of the user.

12. The body harness of any preceding claim, wherein the backplate (40) is rigidly coupled to the ribcage band (50) at a point between the first and second distal ends (52, 54).

13. The body harness of any preceding claim, wherein the shoulder portion (30), the backplate (40) and at least part of the ribcage band (50) are integral such that they form a single monolithic piece that is rigidly coupled to the remaining part of the ribcage band (50).

14. The body harness of any preceding claim, further comprising a fastening system (65) for securing the body harness (10) to the user’s torso.

15. The body harness of claim 14, wherein the fastening system (65) comprises one or more adjustable straps (66) configured to extend across the front of the user’s torso when the body harness (10) is worn.

16. The body harness of claim 14 or 15, wherein the fastening system (65) comprises a hinged plate (67) configured to rest on the front of the user’s torso when the body harness (10) is worn.

17. The body harness of any preceding claim, wherein the shoulder joint interface (20) is configured to receive a shoulder joint interface (22) of an arm exoskeleton (14) to allow the arm exoskeleton (14) to pivot relative to the shoulder portion (20).

18. The body harness of any preceding claim, wherein the shoulder joint interface (20) comprises a base (71) rigidly coupled to the shoulder portion (30), and an engagement portion (72) pivotally coupled to the base (71), wherein the engagement portion (72) is configured to be coupled to an arm exoskeleton (14).

19. The body harness of any of claims 1 to 16, wherein the shoulder joint interface (20) comprises a first engagement portion (72) configured to receive a second engagement portion (74) of a shoulder joint interface (22) of an arm exoskeleton (14) to couple the shoulder joint interfaces (20, 22) together and allow the arm exoskeleton (14) to pivot relative to the shoulder portion (30).

20. A wearable arm exoskeleton system comprising:the body harness (10) of any of claims 1 to 16, wherein the shoulder joint interface (20) is a first shoulder joint interface (20) and comprises a first engagement portion (72); and an arm exoskeleton (14) comprising a second shoulder joint interface (22) comprising a second engagement portion (74), wherein the first engagement portion (72) and the second engagement portion (74) are configured to be coupled together such that the first and second shoulder joint interfaces (20, 22) form a pivoting shoulder joint (71).

21. The system of claim 20, wherein the first and second engagement portions (72, 74) form a rigid coupling when coupled together, the first shoulder joint interface (20) comprises a base (73) rigidly coupled to the shoulder portion (30), and the first engagement portion (72) is pivotally coupled to the base (73) to provide the pivoting shoulder joint (71).

22. The system of claim 20 or 21 , further comprising a latching system (75) configured to automatically lock the first and second engagement portions (72, 74) together when they are fully engaged to prevent separation of the first and second shoulder joint interfaces (20, 22), wherein the latching system (76) comprises a releasing mechanism for unlocking the first and second engagement portions (72, 74) to allow separation of the first and second shoulder joint interfaces (20, 22).

23. The system of claim 20, 21 or 22, wherein the pivoting shoulder joint (71) comprises a locking mechanism (85) for selectively locking and unlocking relative rotation of the pivoting shoulder joint (71) between the first and second shoulder joint interfaces (20, 22).

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