Soft exosuit for assistance with human motion

Patent metadata

Field	Value
Publication number	US-9351900-B2
Application number	US-201314371675-A
Country	US
Kind code	B2
Filing date	Sep 17, 2013
Priority date	Sep 17, 2012
Publication date	May 31, 2016
Grant date	May 31, 2016

Abstract

In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

First claim

What is claimed is:

1. A wearable soft exosuit comprising:
a first anchor element configured for positioning at or near a first body part of a person wearing the wearable soft exosuit;
a second anchor element configured for positioning at or near a second body part of the person wearing the wearable soft exosuit;
an actuation member coupled to the second anchor element configured to be behind an ankle joint of the person;
a plurality of connection elements extending between and connected directly or indirectly to the first anchor element and the actuation member, and at least one of the plurality of connection elements spanning at least one joint disposed between the first anchor element and the second anchor element;
at least one actuator; and
at least one controller configured to actuate the at least one actuator at a predetermined time during movement of the at least one joint to generate a beneficial moment about the at least one joint,
wherein each of the plurality of connection elements comprise webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,
wherein the at least one actuator comprises at least one motor driven actuator, at least one pneumatic actuator, or at least one hydraulic actuator,
wherein the second anchor element comprises a footwear anchor element,
wherein the first anchor element comprises a waist belt anchor element,
wherein the at least one actuator is configured to apply a tensile force to the second anchor element via the actuation member,
wherein the plurality of connection elements comprise a first connection element on a first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh, a second connection element on the first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, a third connection element on a second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, and a fourth connection element on the second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh,
wherein the first connection element and the fourth connection element are connected to form a first node at the position adjacent the center of the wearer's first thigh, and
wherein the second connection element and the third connection element are connected to form a second node at the position adjacent the center of the wearer's second thigh.

2. The wearable soft exosuit according to claim 1 , further comprising:
a first thigh brace for the wearer's first thigh;
a second thigh brace for the wearer's second thigh;
one or more connection elements connecting the first node to the first thigh brace; and
one or more connection elements connecting the second node to the second thigh brace.

3. The wearable soft exosuit according to claim 2 , further comprising:
a first lateral calf connection element connected to the first thigh brace;
a first medial calf connection element connected to the first thigh brace;
a second lateral calf connection element connected to the second thigh brace; and
a second medial calf connection element connected to the second thigh brace.

4. The wearable soft exosuit according to claim 3 ,
wherein the at least one actuator comprises a motor driven actuator configured to drive a first cable attached to a first footwear anchor element on a wearer's first foot and to drive a second cable attached to a second footwear anchor element on a wearer's second foot.

5. The wearable soft exosuit according to claim 4 ,
wherein the first footwear anchor element and the second footwear anchor element comprise a footwear insole insert defining a cable channel,
wherein a distal end of the first cable is fixed to the first footwear anchor element at a position proximal to the ankle joint to create a torque around the first ankle when the first cable is actuated, and
wherein a distal end of the second cable is fixed to the second footwear anchor element at a position proximal to the ankle joint to create a torque around the second ankle the second cable is actuated.

6. The wearable soft exosuit according to claim 1 , wherein the actuation member includes a flexible ribbon or a flexible cable.

7. The wearable soft exosuit according to claim 1 , wherein the plurality of connection elements are non-extensible.

8. The wearable soft exosuit according to claim 1 , wherein the plurality of connection elements are semi-extensible.

9. The wearable soft exosuit according to claim 1 , wherein the beneficial moment assists or promotes normal plantarflexion motion of the ankle joint.

10. The wearable soft exosuit according to claim 1 , wherein the beneficial moment assists or promotes normal flexion motion of a hip joint of the person.

11. The wearable soft exosuit according to claim 1 , wherein the beneficial moments assist or promote normal plantarflexion motion of the ankle joint and normal flexion motion of a hip joint.

12. A wearable soft exosuit comprising:
a first anchor element configured for positioning at or near a first body part of a person wearing the wearable soft exosuit;
a second anchor element configured for positioning at or near a second body part of the person wearing the wearable soft exosuit;
an actuation member coupled to the second anchor element configured to be behind an ankle joint of the person;
a plurality of connection elements extending between and connected directly or indirectly to the first anchor element and the actuation member, and at least one of the plurality of connection elements spanning at least one joint disposed between the first anchor element and the second anchor element;
at least one actuator; and
at least one controller configured to actuate the at least one actuator at a predetermined time during movement of the at least one joint to generate a beneficial moment about the at least one joint,
wherein at least some of the plurality of connection elements are connected to form at least one node,
wherein each of the plurality of connection elements comprise webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,
wherein the at least one actuator comprises at least one motor driven actuator, at least one pneumatic actuator, or at least one hydraulic actuator,
wherein the second anchor element comprises a footwear anchor element,
wherein the first anchor element comprises a waist belt anchor element,
wherein the at least one actuator is configured to apply a tensile force to the second anchor element via the actuation member,
wherein the plurality of connection elements comprise a first connection element on a first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh, a second connection element on the first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, a third connection element on a second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, and a fourth connection element on the second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh,
wherein the first connection element and the fourth connection element are connected to for

Assignees

• Harvard College

Inventors

• Walsh Conor
• Asbeck Alan Thomas
• Bujanda Ignacio Galiana
• Ding Ye
• Dyer Robert Joseph
• Larusson Arnar Freyr
• Quinlivan Brendan Thomas
• Schmidt Kai
• Wagner Diana
• Wehner Michael

Classifications

• A61F2/70

  electrical · CPC title

• A61H2201/1671

  rotational · CPC title

• A61H2201/5064

  Position sensors · CPC title

• A61H2201/165

  Wearable interfaces · CPC title

• A61H2201/1481

  Special movement conversion means · CPC title