Abstract: In one approach to assisting in movement a wearable device is provided. In one embodiment, the wearable device includes an upper body anchor configured for positioning on a torso of a user. The wearable device further includes a first leg anchor configured for positioning on a first leg of the user and a second leg anchor configured for positioning on a second leg of the user. In this embodiment, the wearable device further includes a connecting element between the first leg anchor and the second leg anchor, and an energy storage device connected to the upper body anchor that includes one or more pulleys or channels through which the connecting element passes, where the first leg anchor or the second leg anchor includes a stiffening layer.

Abstract: Embodiments of lower body exoskeletons having linear actuators are described. In one example, an exoskeleton includes an upper juncture assembly for positioning at least partly around a waist of a user. The exoskeleton further includes a linear actuator having a first end and a second end opposite the first end. The first end of the linear actuator is coupled to the upper juncture assembly. The exoskeleton further includes a lower juncture assembly coupled to the second end of the linear actuator. The lower juncture assembly is configured for positioning the second end of the linear actuator at a side of a foot of the user. The exoskeleton further includes a foot attachment interface for positioning at least partly around the foot of the user.

Abstract: Mechanisms and methods for providing gravity compensation to an arm or an arm holding a tool, that allows that arm to seem weightless. The mechanisms and methods include pantograph members that mimic the kinematics of the arm and also compensate for gravity making the arm, the arm holding a tool, or a tool seem weightless.

Abstract: An exoskeleton to assist a user in moving as object comprising an upper body harness, a mid-body harness, and a lower body harness. First and second sets of elongated energy return members are located between the harnesses and are used to assist a user in moving an object.