Abstract: A harness for a wearable assistance device that has an inner support configured to be attached to a first side of a body interface and a movable outer support slidably coupled to the inner support and configured to connect to a wearable assistance device. A strap attachment is connected to the movable outer support and is configured to be attached to a second side of the body interface that is opposite the first side of the body interface. The movable outer support moves axially relative to the inner support from an unloaded position to a loaded position upon application of a load from the wearable assistance device.

Abstract: A clutch mechanism includes a spool that is configured to receive a cable, a disk with elasticity, a mechanism configured for locking and unlocking the movement of the disk, and at least one sensor. The at least one sensor being configured to measure the movement of at least one of the disk and the spool in the unlocked mode and to measure the movement of the spool relative to the disk when in a locked mode.