Abstract: A device that attaches to three body segments connected by two joints harvests energy selectively from one of the two joints using a single motor-generator. The device also selectively augments relative body segment motion about one of the two joints. Selection of the harvesting or generating mode depends on the user's preference. When in a particular mode, the device automatically selects which of the two joints to connect to the motor-generator in order to optimize the augmentation or harvesting. Depending on whether the user is on flat terrain, going up an incline or down a decline, the selection of the joint to be connected is different. Use of a single motor-generator and gearbox mounted near the knee reduces metabolic cost compared to the use of two motor-generators and gearboxes.

Abstract: A device that attaches to three body segments connected by two joints harvests energy selectively from one of the two joints using a single motor-generator. The device also selectively augments relative body segment motion about one of the two joints. Selection of the harvesting or generating mode depends on the user's preference. When in a particular mode, the device automatically selects which of the two joints to connect to the motor-generator in order to optimize the augmentation or harvesting. Depending on whether the user is on flat terrain, going up an incline or down a decline, the selection of the joint to be connected is different. Use of a single motor-generator and gearbox mounted near the knee reduces metabolic cost compared to the use of two motor-generators and gearboxes.

Abstract: The length of a strap has an inelastic component and a stretchable component. The stretchable component has a flat, nearly flat or degressive spring rate for the majority of its operating range of extension. The operating range accommodates the expansion and contraction of a body part to which the strap is to be attached, such that the tension applied to the body part by the strap varies minimally as the body part expands and contracts, increasing comfort for the wearer.

Abstract: A powered exoskeletal device is worn by a patient with a walking disorder. Baseline measurements of the patient's gait are made with the device, and a torque profile for providing assistance to the patient is selected based on the particular patient's baseline. Throughout rehabilitation, a gait quality metric is monitored and adjustments are made to the torque profile accordingly.

Abstract: Electrical energy produced by an energy harvester is stored on a temporary basis in an interim energy storage module before transferring it to a load. The current fed to the load is controlled so that a voltage limit of, for example, a capacitor in the interim storage module is not reached. By at least partially synchronizing the current consumed with the power produced, the capacity of the interim energy storage can be minimized, while still beneficially reducing fluctuations in the current. Current consumed may be determined by the use of a voltage to current look-up table, so that minimal communication overhead between the load and the power source is needed.

Abstract: Raw dead reckoning data is obtained from an inertial measurement unit (IMU) worn by a user. Drift in the raw data is compensated for by detecting a gait of the user and phase of that gait, and constraining the position of the IMU to lie within corresponding bounds as the IMU moves. The bounds depend on the bodily geometry of the user and the detected gait phase. The raw orientation data of the IMU may be also corrected for drift in a similar way. Gait and gait phase may be detected by sensors in an energy harvester worn around the knee, for example. Drift in the IMU measurements can be compensated for without depending on a GPS signal or on the earth's magnetic field.

Abstract: Motion of a body segment is assisted when the body segment is moving in a positive power mode but not when it is moving in a negative power mode. When the motion of the body segment is cyclical, for example during walking, assistance to the body segment is switched on and off throughout the cycle to correspond to positive and negative power modes respectively. Energy used to assist the body segment may be harvested from prior motion of the body segment, either in prior cycles and/or when the body segment is moving in a negative power mode. The energy used may also be harvested from other body segments. Assisting motion of a body segment may be used to reduce the metabolic cost of locomotion, or to reduce exertion, when walking, jogging, running or sprinting.

Abstract: Raw dead reckoning data is obtained from an inertial measurement unit (IMU) worn by a user. Drift in the raw data is compensated for by detecting a gait of the user and phase of that gait, and constraining the position of the IMU to lie within corresponding bounds as the IMU moves. The bounds depend on the bodily geometry of the user and the detected gait phase. The raw orientation data of the IMU may be also corrected for drift in a similar way. Gait and gait phase may be detected by sensors in an energy harvester worn around the knee, for example. Drift in the IMU measurements can be compensated for without depending on a GPS signal or on the earth's magnetic field.

Abstract: Raw dead reckoning data is obtained from an inertial measurement unit (IMU) worn by a user. Drift in the raw data is compensated for by detecting a gait of the user and phase of that gait, and constraining the position of the IMU to lie within corresponding bounds as the IMU moves. The bounds depend on the bodily geometry of the user and the detected gait phase. The raw orientation data of the IMU may be also corrected for drift in a similar way. Gait and gait phase may be detected by sensors in an energy harvester worn around the knee, for example. Drift in the IMU measurements can be compensated for without depending on a GPS signal or on the earth's magnetic field.

Abstract: Electrical energy produced by an energy harvester is stored on a temporary basis in an interim energy storage module before transferring it to a load. The current fed to the load is controlled so that a voltage limit of, for example, a capacitor in the interim storage module is not reached. By at least partially synchronizing the current consumed with the power produced, the capacity of the interim energy storage can be minimized, while still beneficially reducing fluctuations in the current. Current consumed may be determined by the use of a voltage to current look-up table, so that minimal communication overhead between the load and the power source is needed.

Abstract: Motion of a body segment is assisted when the body segment is moving in a positive power mode but not when it is moving in a negative power mode. When the motion of the body segment is cyclical, for example during walking, assistance to the body segment is switched on and off throughout the cycle to correspond to positive and negative power modes respectively. Energy used to assist the body segment may be harvested from prior motion of the body segment, either in prior cycles and/or when the body segment is moving in a negative power mode. The energy used may also be harvested from other body segments. Assisting motion of a body segment may be used to reduce the metabolic cost of locomotion, or to reduce exertion, when walking, jogging, running or sprinting.

Abstract: An apparatus harvests energy from motion of a human or animal body segment and provides the energy to an electrical load. The apparatus comprises a generator operatively coupled to the body segment such that particular movement of the body segment causes the generator to output a generator current and to oppose the particular movement of the body segment with a generator torque. An electrical load is coupled to receive the generator current. A control system is operatively connected between the generator and the electrical load and is configured to control the generator torque during the particular movement of the body segment. The apparatus corresponds to various methods for controlling generator torque while harvesting energy.

Abstract: An apparatus for harvesting energy from motion of a human or animal body segment and providing the energy to an electrical load is disclosed. The apparatus comprises a generator operatively coupled to the body segment such that particular movement of the body segment causes the generator to output a generator current and to oppose the particular movement of the body segment with a generator torque. An electrical load is coupled to receive the generator current. A control system is operatively connected between the generator and the electrical load and is configured to control the generator torque during the particular movement of the body segment. Corresponding methods are also disclosed.

Abstract: An apparatus for harvesting energy from motion of a human or animal body segment and providing the energy to an electrical load is disclosed. The apparatus comprises a generator operatively coupled to the body segment such that particular movement of the body segment causes the generator to output a generator current and to oppose the particular movement of the body segment with a generator torque. An electrical load is coupled to receive the generator current. A control system is operatively connected between the generator and the electrical load and is configured to control the generator torque during the particular movement of the body segment. Corresponding methods are also disclosed.

Abstract: An apparatus for harvesting energy from motion of a human or animal body segment and providing the energy to an electrical load is disclosed. The apparatus comprises a generator operatively coupled to the body segment such that particular movement of the body segment causes the generator to output a generator current and to oppose the particular movement of the body segment with a generator torque. An electrical load is coupled to receive the generator current. A control system is operatively connected between the generator and the electrical load and is configured to control the generator torque during the particular movement of the body segment. Corresponding methods are also disclosed.