Abstract: A human motion assistance device has an upper torso harness and a preloaded leg strap arrangement affixed to the upper torso harness. The preloaded leg strap arrangement has an X-bracket connected to the upper torso harness. The preloaded leg strap arrangement further uses a plurality of blocks and a preloaded strap routed through the blocks and connected to the X-bracket. The preloaded leg strap arrangement further uses a knee pad with a split seam. The preloaded strap is under tension, even when the human motion assistance device is in a relaxed state. The preloading provides an immediate force which increases under a loaded state. The potential energy stored during the loaded state is released when transitioning from a standing position to a crouched, squatting, or seated position. The configuration allows for maximizing the energy storage without putting excess shoulder pressure on the user when standing.

Abstract: A human motion assistance device has upper back straps and is configured to attach to a user. A leg strap arrangement with lower back straps is configured to attach to the user. A differential assembly is connected between the upper back straps and lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gait. When crouching or lifting, the differential assembly transfers force to stretch and retract the upper torso harness and leg strap arrangement, which provides human motion assistance. The differential assembly can be implements as an x-bar, lever arm, pulley, gears, or tube. The leg strap arrangement has a knee pad adapted to cover a knee of the user. The knee pad opens along a segment. The upper torso harness has a shoulder strap and buckle. The leg strap arrangement is an elastic material.

Abstract: A human motion assistance device has upper back straps and is configured to attach to a user. A leg strap arrangement with lower back straps is configured to attach to the user. A differential assembly is connected between the upper back straps and lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gait. When crouching or lifting, the differential assembly transfers force to stretch and retract the upper torso harness and leg strap arrangement, which provides human motion assistance. The differential assembly can be implements as an x-bar, lever arm, pulley, gears, or tube. The leg strap arrangement has a knee pad adapted to cover a knee of the user. The knee pad opens along a segment. The upper torso harness has a shoulder strap and buckle. The leg strap arrangement is an elastic material.

Abstract: A human motion assistance device has an upper torso harness for attaching to a user. The upper torso harness has a backpack assembly and shoulder strap, which buckles in front of the user. The upper torso harness can be IOTV. Leg straps are affixed to the upper torso harness proximate to a gluteal area of the user and configured to extend down a hamstring area to a knee pad and further extend down a tibia area. The knee pad opens along a vertical or angled segment and the calf portion opens over the calf. Seat webbing is connected to leg straps for additional support. Upper torso harness and leg straps are made with a combination of durable materials such as textured nylon, polyurethane coated polyester, as well as elastic material and webbing material. The upper torso harness and leg straps are passive without active members.

Abstract: A human motion assistance device has an upper torso harness and a preloaded leg strap arrangement affixed to the upper torso harness. The preloaded leg strap arrangement has an X-bracket connected to the upper torso harness. The preloaded leg strap arrangement further uses a plurality of blocks and a preloaded strap routed through the blocks and connected to the X-bracket. The preloaded leg strap arrangement further uses a knee pad with a split seam. The preloaded strap is under tension, even when the human motion assistance device is in a relaxed state. The preloading provides an immediate force which increases under a loaded state. The potential energy stored during the loaded state is released when transitioning from a standing position to a crouched, squatting, or seated position. The configuration allows for maximizing the energy storage without putting excess shoulder pressure on the user when standing.

Abstract: A human motion assistance device has an upper torso harness for attaching to a user. The upper torso harness has a shoulder strap or backpack assembly. A belt is connected to the upper torso harness and extends around a waist and back area of the user. Leg straps are affixed to the upper torso harness proximate to a gluteal area of the user and configured to extend down a hamstring area to cross in front of a knee area and further extend down a calf area to a foot anchor. The leg straps are made of an elastic material with a pocket around the knee area of the user. The foot anchor may extend under the heel to an arch strap, or cross over the talus and under the arch of the foot. The upper torso harness and leg straps are passive without active members.

Abstract: A human motion assistance device has upper back straps and is configured to attach to a user. A leg strap arrangement with lower back straps is configured to attach to the user. A differential assembly is connected between the upper back straps and lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gait. When crouching or lifting, the differential assembly transfers force to stretch and retract the upper torso harness and leg strap arrangement, which provides human motion assistance. The differential assembly can be implements as an x-bar, lever arm, pulley, gears, or tube. The leg strap arrangement has a knee pad adapted to cover a knee of the user. The knee pad opens along a segment. The upper torso harness has a shoulder strap and buckle. The leg strap arrangement is an elastic material.

Abstract: A joint actuation device for adding torque to a joint of a user includes an actuation system having an actuator and a spring. A lever is configured to couple to the user's leg and to the actuation system. The lever configured to rotate at a device joint with respect to the actuation system. A first sensor measures a position of the device joint. A second sensor measures deflection in a spring. The actuator is positioned based on the position of the device joint and deflection in the spring. The actuator is configured to deflect the spring to apply a torque the device joint. The device joint aligns with the user's joint to add a torque to the user's joint during a gait activity. The actuator disengages the spring during a non-gait activity. The lever is configured to disengage from the actuator when the device joint exceeds a predetermined angle.

Abstract: A human motion assistance device has an upper torso harness for attaching to a user. The upper torso harness has a backpack assembly and shoulder strap, which buckles in front of the user. The upper torso harness can be IOTV. Leg straps are affixed to the upper torso harness proximate to a gluteal area of the user and configured to extend down a hamstring area to a knee pad and further extend down a tibia area. The knee pad opens along a vertical or angled segment and the calf portion opens over the calf. Seat webbing is connected to leg straps for additional support. Upper torso harness and leg straps are made with a combination of durable materials such as textured nylon, polyurethane coated polyester, as well as elastic material and webbing material. The upper torso harness and leg straps are passive without active members.

Abstract: A human motion assistance device has an upper torso harness for attaching to a user. The upper torso harness has a shoulder strap or backpack assembly. A belt is connected to the upper torso harness and extends around a waist and back area of the user. Leg straps are affixed to the upper torso harness proximate to a gluteal area of the user and configured to extend down a hamstring area to cross in front of a knee area and further extend down a calf area to a foot anchor. The leg straps are made of an elastic material with a pocket around the knee area of the user. The foot anchor may extend under the heel to an arch strap, or cross over the talus and under the arch of the foot. The upper torso harness and leg straps are passive without active members.

Abstract: A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.

Abstract: A method of controlling a gait device includes a first sensor disposed on a first mobile body. A physical state of the first mobile body is measured using the first sensor to obtain a first physical state measurement. A second sensor is disposed on a second mobile body. A physical state of the second mobile body is measured using the second sensor to obtain a second physical state measurement. The first and second physical state measurements are conditioned by pseudo integration. A reference function is based on a gait activity. A reference function is determined by measuring a physical state of an able-bodied human and correlating an output position of the actuator to the physical state of the able-bodied human. A command is generated by inputting the first and second physical state measurements into the reference function to control an actuator of the gait device to match the output position.

Abstract: A parallel kinematically redundant device includes a base body portion and a movable portion. The movable portion includes first, second, and third joints. A first actuator is coupled to the first joint of the movable portion and to the base body portion. A second actuator is coupled in parallel with the first actuator between the second joint of the movable portion and the base body portion. A linking member is rotationally coupled to the third joint of the movable portion to provide an output for the first and second actuators. A housing is coupled to the base body portion and fits onto a user. A prosthetic joint device includes a base portion and a movable portion. An actuator is rotationally coupled to the movable portion and base portion. A compliant element is coupled in parallel with the actuator between the movable portion and base portion.

Abstract: An active compliant parallel device includes a movable body; a base body; and a plurality of linking members. The plurality of linking members are coupled to the movable body and the base body by a plurality of joints and include at least one compliant linking member, having a compliant element, and at least one actuating linking member, having an actuating element. The device may further include at least one damping linking member having a damping element and/or at least one passive linking member. The actuating, compliant, passive, and/or damping linking members are arranged in a parallel arrangement or structure such that each linking member makes a connection, using a connection element, such as a joint, with the base body and the movable body. The potential configurations of the device allow for movement and positioning of one or more unrestricted and externally loaded elements in space.

Abstract: A human assistance device has a rate gyro, first accelerometer, and second accelerometer disposed on a mobile body for sensing a physical state of the mobile body to provide a physical state measurement. The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN 2 function is performed on an output of the first accelerometer and an output of the second accelerometer. An output of the rate gyro and an output of the ATAN2 function is filtered to provide a filtered physical state measurement. The filtered physical state measurement is applied to a reference function to generate a reference command to control a non-gait motion of an actuator in the human assistance device. The reference command controls the human assistance device, for example to provide a shifting foot position while seated, with a natural, biological motion, without an artificial or mechanical appearance.

Abstract: A parallel kinematically redundant device includes a base body portion and a movable portion. The movable portion includes first, second, and third joints. A first actuator is coupled to the first joint of the movable portion and to the base body portion. A second actuator is coupled in parallel with the first actuator between the second joint of the movable portion and the base body portion. A linking member is rotationally coupled to the third joint of the movable portion to provide an output for the first and second actuators. A housing is coupled to the base body portion and fits onto a user. A prosthetic joint device includes a base portion and a movable portion. An actuator is rotationally coupled to the movable portion and base portion. A compliant element is coupled in parallel with the actuator between the movable portion and base portion.

Abstract: A prosthetic device has a movable body and foot member with an end effector for contacting an external surface. A base body is coupled to a first joint of the foot member. A compliant linking member is disposed between a second joint of the foot member and a first joint of the moveable body. The compliant linking member can be a spring or flexible beam. A passive linking member is coupled between a third joint of the foot member and a third joint of the moveable body. An actuator is disposed between the base body and the second joint of the movable body. The actuator can be a motor with an extension member. The compliant linking member extends during roll-over phase. The actuator acts to assist with the extension of the compliant linking member during roll-over phase to aid with push-off phase in the gait cycle.

Abstract: A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.

Abstract: A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.

Abstract: A joint actuation device for adding torque to a joint of a user includes an actuation system having an actuator and a spring. A lever is configured to couple to the user's leg and to the actuation system. The lever configured to rotate at a device joint with respect to the actuation system. A first sensor measures a position of the device joint. A second sensor measures deflection in a spring. The actuator is positioned based on the position of the device joint and deflection in the spring. The actuator is configured to deflect the spring to apply a torque the device joint. The device joint aligns with the user's joint to add a torque to the user's joint during a gait activity. The actuator disengages the spring during a non-gait activity. The lever is configured to disengage from the actuator when the device joint exceeds a predetermined angle.