Abstract: In some embodiments, a device for assisting motion of a joint may include a first anchor on a first side of the joint, a second anchor on a second side of the joint, a spring operatively coupled to the first anchor and the second anchor, and an actuator operatively coupled to the first anchor and the second anchor. Actuating the actuator may apply a torque about the joint that is resisted by a reaction torque applied to the joint by the spring.

Abstract: A soft brace to prevent injury to one or more target joints or body segments is disclosed. The soft brace includes one or more tensile elements configured to limit motion of one or more target joints based on placement of the one or more tensile elements relative to the one or more target joints such that the placement and tension of each of the one or more tensile elements provides resistance against motion of the one or more target joints; one or more soft tissue anchors positioned on a body around the one or more target joints, the one or more anchors being configured to anchor one or more of the one or more tensile elements to the body to provide force distribution relative to the one or more target joints; and wherein at least one of the one or more tensile elements is routed in parallel with the approximate center of rotation of at least one of the one or more target joints.