Abstract: An exoskeleton system comprising at least one leg actuator unit configured to be coupled to leg of a user, the leg actuator unit including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a leg-actuator-unit user interface comprising a plurality of input and feedback elements, and an actuator that extends between the upper arm and lower arms.

Abstract: A method of configuring a treatment regimen of one or more exoskeleton systems in an exoskeleton network, the method including: receiving exoskeleton data from one or more exoskeleton systems that are operably connected to a network; storing the exoskeleton data from the one or more exoskeleton systems; generating a configuration input for configuring at least one of the one or more exoskeleton systems the configuration input including a replacement for or update to a current medical treatment regimen being implemented by the at least one of the one or more exoskeleton systems; and sending the generated configuration input to the at least one of the one or more exoskeleton systems via the network to cause replacing or updating the current medical treatment regimen being implemented by the at least one of the one or more exoskeleton systems.

Abstract: An exoskeleton system comprising: one or more actuator units that comprise a fluidic actuator; an exoskeleton device; one or more cables, the one or more cables comprising a first cable extending from the exoskeleton device to a first actuator unit of the one or more actuator units; and a retractable cable assembly coupled to the first cable, with the retractable cable assembly configured to pull the first cable to reduce slack in the first cable.

Abstract: A method of configuring one or more exoskeleton systems in an exoskeleton network, the method including: receiving exoskeleton data from one or more exoskeleton systems that are operably connected to a network; storing the exoskeleton data from the one or more exoskeleton systems; generating a configuration input for configuring at least one of the one or more exoskeleton systems; and sending the generated configuration input to the at least one of the one or more exoskeleton systems via the network to cause the at least one of the one or more exoskeleton systems to be configured based at least in part on the generated configuration input.

Abstract: An exoskeleton system comprising at least one actuator unit that includes a fluidic actuator; an exoskeleton device including a fluidic system, and electronics; and a first cable extending from the exoskeleton device to the at least one actuator unit.

Abstract: An exoskeleton system comprising a leg actuator unit that is configured to be coupled to a leg of a user. The leg actuator unit includes: an upper arm and a lower arm that are rotatably coupled via a rotatable joint, the rotatable joint configured to be positioned at a knee of the user with the upper arm coupled about an upper-leg portion of the user above the knee and with the lower arm coupled about a lower-leg portion of the user below the knee. The upper arm is configured to be coupled to the upper-leg portion above the knee via a first set of couplers that includes a first upper-leg coupler, the lower arm is configured to be coupled to the lower-leg portion below the knee via a second set of couplers that includes one or more lower-leg couplers associated with a lower-leg brace, and an actuator extends between the upper arm and lower arm, the actuator configurable to move the upper arm and lower arm.

Abstract: An exoskeleton network. The exoskeleton network includes an exoskeleton system that has one or more sensors and a memory; a user device that is local to the exoskeleton system and that operably communicates with the exoskeleton system; and a classification server that operably communicates with at least one of the exoskeleton system and the user device. The exoskeleton network performs feature extraction on sensor data obtained from the one or more sensors to generate feature-extracted sensor data and performs label derivation on the feature-extracted sensor data to generate labeled sensor data.

Abstract: An exoskeleton system having an actuator unit configured to be coupled to a leg of a user. The actuator unit includes an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee; a fluidic actuator that extends between the upper arm and lower arm; and one or more fluid lines coupled to the fluidic actuator to introduce fluid to the fluidic actuator that causes force to be applied to the upper arm and lower arm.

Abstract: A pneumatic actuator that includes a plurality of elongated inflatable chambers stacked lengthwise in an array from a top-end to a bottom end, the plurality of elongated inflatable chambers defined by an inextensible body that is inextensible along one or more plane axes of the body while being flexible in other directions.

Abstract: A method of operating a modular exoskeleton system, the method comprising: monitoring for one or more actuator units being operably coupled to or removed from the modular exoskeleton system, the modular exoskeleton system comprising at least a first actuator unit configured to be operably coupled and removed from the modular exoskeleton system; determining that the first actuator unit has been operably coupled to the modular exoskeleton system; determining the first actuator unit has been associated with a first body portion of the user; determining a first new operating configuration based at least in part on the determination that the first actuator unit has been operably coupled to the modular exoskeleton system and the determination that the first actuator unit has been associated with the first body portion of the user; and setting the first new operating configuration for the modular exoskeleton system.

Abstract: An exoskeleton system, the exoskeleton system comprising one or more actuator units that include a fluidic actuator, one or more sensors and an exoskeleton device. The exoskeleton device includes a fluidic system, and a processor and memory, the memory storing instructions, that when executed by the processor, are configured to control the exoskeleton system to introduce fluid to the fluidic actuator of the one or more actuator units to cause actuation of the fluidic actuator of the one or more actuator units. The exoskeleton system may be configured to operate in, on or around a body of water and can be water and/or corrosion resistant.

Abstract: A method of operating an exoskeleton system that includes obtaining a first set of sensor data from one or more sensors associated with one or more leg actuator units of an exoskeleton system during a user activity, the first set of sensor data indicating a first configuration state of the one or more actuator units; determining, based at least in part on the first set of obtained sensor data, to change configuration of the one or more leg actuator units to a second configuration state to support a user during the user activity; and introducing fluid to one or more fluidic actuators of the one or more leg actuator units to generate the second configuration state by causing the one or more fluidic actuators to apply force at the one or more actuator units.

Abstract: A robotic system configured to, in response to a state transition intention input, change the robotic system from operating in a first mode with sensitivity to detecting state transitions at a first sensitivity level to operating temporarily in a second mode with sensitivity to detecting state transitions at a second sensitivity level that is more sensitive than the first sensitivity level. The state transition intention input indicates an intention to make a state transition from a first state to a second state, with the second state being possible from a plurality of possible different states.

Abstract: A method of constructing an inflatable fluidic actuator that includes generating a tube configuration with one or more shapes of fluid-impermeable membrane material, the tube configuration having a first tube end and a second tube end and an internal tube face and an external tube face. The method also includes coupling a first and second interface to the tube configuration at the first and second tube ends by respectively coupling each interface to the tube configuration at a respective tube end by generating at least one of: a first circumferential bond between the fluid-impermeable membrane material and one or more sidewalls of the interface; and an external face bond between fluid-impermeable membrane material at the tube end onto an external face of the interface.

Abstract: A computer implemented method of semi-supervised intent recognition for an exoskeleton system. In one aspect, the method includes, in response to a state transition intention input, changing the exoskeleton system from operating in a first mode with sensitivity to detecting state transitions at a first sensitivity level to operating in a second mode with sensitivity to detecting state transitions at a second sensitivity level that is more sensitive than the first sensitivity level; identifying a state transition while operating in the second mode and using the second sensitivity level; and facilitating the identified state transition by actuating the exoskeleton system.

Abstract: A method of performing a fit test on an actuator unit coupled to a user. The method includes actuating the actuator unit; determining a first configuration of the actuator unit generated during the actuating the actuator unit; determining a second configuration of the actuator unit generated during the actuating the actuator unit; determining a change in configuration of the actuator unit based at least in part on the difference between the first and second configuration; and determining that the change in configuration corresponds to an improper fit of the actuator unit to the user.

Abstract: A method of operating an exoskeleton system that includes determining a first state estimate for a current classification program being implemented by the exoskeleton system; determining a second state estimate for a reference classification program; determining that a difference between the first and second state estimate is greater than a classification program replacement threshold; generating an updated classification program; and replacing the current classification program with the updated classification program based at least in part on the determining that the difference between the first and second state estimates is greater than the classification program replacement threshold.

Abstract: A lower-leg exoskeleton that includes an inflatable actuator configured to be worn over a front portion of a leg of a user and configured to be disposed directly adjacent to and surrounding a joint of the leg of the user. The inflatable actuator is configured, when worn by the user, to receive and transmit an actuator load generated by the inflatable actuator around the joint of the user to a load contact point. Inflation of the inflatable actuator generates a moment about the joint of the user to cause flexion of the leg of the user.

Abstract: A fluidic exoskeleton system. The system can include one or more fluidic actuator units that have: a joint; a first and second arm coupled to the joint; an inflatable bellows actuator extending between a first and second plate associated with the joint, the inflatable bellows actuator defining a bellows cavity, the inflatable bellows actuator configured to extend along a length of the bellows actuator when inflated by introducing fluid into the bellows cavity; and one or more constraint ribs extending from the joint and surrounding portions of the bellows actuator along the length of the bellows actuator.

Abstract: A method of performing a fit test on an actuator unit coupled to a user. The method includes determining a first configuration of the actuator unit generated in response to actuating the actuator unit while the user is performing one or more movements for the fit test; determining a change from the first configuration of the actuator unit while the user is performing the one or more movements for the fit test; determining that the change from the first configuration corresponds to an improper fit of the actuator unit coupled the user; and generating an improper fit indication that indicates improper fit of at least leg actuator units coupled the user.