Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data for a powered exosuit is received. The sensor data is classified depending on whether the sensor data is indicative of a transition between different types of activities of a wearer of the powered exosuit. The classification is provided to a control system for the powered exosuit. The powered exosuit is controlled based on the classification.

Abstract: Techniques are provided to personalize an exosuit controller for a wearer. By one or more computing devices, an input is received from the wearer, where the input corresponds to a degree of assistance set by the wearer. A set of non-dominated solutions of a multi-objective optimization model corresponding to the exosuit controller is accessed, where the set of non-dominated solutions represents a pareto front of the multi-objective optimization model. One or more parameters of the exosuit controller are modified based on the degree of assistance set by the wearer, wherein the one or more parameters are modified by selecting a non-dominated solution of the set of non-dominated solutions representing the pareto front.

Abstract: Techniques are provided to personalize an exosuit controller for a wearer. By one or more computing devices, an input is received from the wearer, where the input corresponds to a degree of assistance set by the wearer. A set of non-dominated solutions of a multi-objective optimization model corresponding to the exosuit controller is accessed, where the set of non-dominated solutions represents a pareto front of the multi-objective optimization model. One or more parameters of the exosuit controller are modified based on the degree of assistance set by the wearer, wherein the one or more parameters are modified by selecting a non-dominated solution of the set of non-dominated solutions representing the pareto front.

Abstract: An axial flux electric motor includes a yokeless stator with a circular array of teeth, each wound with coils of electric wire generating a magnetic field parallel to the motor's rotation axis upon energization. The motor comprises first and second rotors, each having multiple permanent magnets. The first rotor is positioned above the stator with a first air gap, and the second rotor is below the stator with a second air gap. Each rotor has an adjacent circular steel back-iron plate providing a magnetic flux return path for the stator's magnetic field, covering the permanent magnets. A motor assembly structurally integrates the yokeless stator, both rotors, and back-irons, configured either with connections on both sides to a cycloid transmission or comprising thermally conductive epoxy. The axial length of this compact motor assembly may be less than 20 mm, enabling use in lightweight, space-constrained applications such as exosuits.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data for a powered exosuit is received. The sensor data is classified depending on whether the sensor data is indicative of a transition between different types of activities of a wearer of the powered exosuit. The classification is provided to a control system for the powered exosuit. The powered exosuit is controlled based on the classification.

Abstract: Methods and systems for supporting and/or assisting users' movements include detecting, by one or more sensors integrated with a garment having two or more controllable regions, movement of a particular part of a user's body enclosed within the garment, measuring, by the one or more sensors, data that indicates the detected movement of the particular part of the user's body, determining, based on the measured data, an activity classification that indicates a future movement of the particular part of the user's body, identifying, based on the determined activity classification and by the one or more processors, a support configuration for the garment, and dynamically adjusting, by the one or more processors, at least one of an effective tension and an effective stiffness of at least one of the two or more controllable regions of the garment to provide the identified support configuration of the garment.

Abstract: An exosuit includes a first structure including a series of link elements joined together by joints. The series of link elements extends along a length of the first structure. The joints are configured to flex such that, when the exosuit is worn by a user, the first structure at least partially conforms to a shape of the user's anatomy at a first side of the first structure that extends along the length. The joints restrict flexing that would deform a second side of the first structure extending along the length of the first structure. The exosuit includes a second structure and an actuator coupled to the first structure and the second structure. The actuator causes movement of the first structure relative to the second structure. The exosuit includes an attachment portion to attach the exosuit to the user with the first side of the first structure facing toward the user.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data for a powered exosuit is received. The sensor data is classified depending on whether the sensor data is indicative of a transition between different types of activities of a wearer of the powered exosuit. The classification is provided to a control system for the powered exosuit. The powered exosuit is controlled based on the classification.

Abstract: An exosuit includes a first structure including a series of link elements joined together by joints. The series of link elements extends along a length of the first structure. The joints are configured to flex such that, when the exosuit is worn by a user, the first structure at least partially conforms to a shape of the user's anatomy at a first side of the first structure that extends along the length. The joints restrict flexing that would deform a second side of the first structure extending along the length of the first structure. The exosuit includes a second structure and an actuator coupled to the first structure and the second structure. The actuator causes movement of the first structure relative to the second structure. The exosuit includes an attachment portion to attach the exosuit to the user with the first side of the first structure facing toward the user.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data for a powered exosuit is received. The sensor data is classified depending on whether the sensor data is indicative of a transition between different types of activities of a wearer of the powered exosuit. The classification is provided to a control system for the powered exosuit. The powered exosuit is controlled based on the classification.