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.

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 while the actuator unit is in an un-actuating state and while the user is in a fit test position; actuating the actuator unit; determining a second configuration of the actuator unit generated in response to the actuating the leg 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 pneumatic exomuscle system and methods for manufacturing and using same. The pneumatic exomuscle system includes a pneumatic module; a plurality of pneumatic actuators each operably coupled to the pneumatic module via at least one pneumatic line, a portion of the pneumatic actuators configured to be worn about respective body joints of a user; and a control module operably coupled to the pneumatic module, the control module configured to control the pneumatic module to selectively inflate portions of the pneumatic actuators.

Abstract: A lower-leg exoskeleton including an inflatable actuator that is configured to be worn over a front portion of a foot of a user; a rigid foot structure coupled to the inflatable actuator that is configured to surround a portion of a foot of the user; and a rigid shin structure coupled to the inflatable actuator and configured to engage the shin of the user. When worn by a user, the lower-leg exoskeleton can receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure which is forward of the heel of a user. Inflation of the inflatable actuator can generate a moment about the ankle of a user to cause flexion of the foot of the user.