Soft exosuit for assistance with human motion

A control system for a soft exosuit, comprising:

• at least one actuator;
• an actuation member comprising a ribbon with a proximal end attached to the at least one actuator configured to be located on a first side of a joint and a distal end attached to an anchor attachment point configured to be located on a second side of the joint;
• a first plurality of sensors configured to output signals associated with an angle of the joint and signals associated with an exosuit user activity, wherein the first plurality of sensors comprises an inertial sensor;
• a tension sensor comprising a load cell configured to output signals associated with a tensile force in the actuation member;
• an idler pulley biased against the ribbon and configured to deflect the ribbon by an angle, the load cell being operatively connected to the idler pulley and configured to measure, via the idler pulley, a force to deflect the ribbon;
• and
• at least one controller configured to:
• receive the signals associated with the angle of the joint, the exosuit user activity, and the tensile force in the actuation member;
• during a first portion of the exosuit user activity, continuously control a tensile force in the actuation member to be greater than a predetermined threshold tensile force to generate a beneficial moment about the joint based at least in part on the signals associated with the angle of the joint, the exosuit user activity, and the tensile force in the actuation member;
• and
• during a second portion of the exosuit user activity, continuously control the tensile force in the actuation member to be at or below the predetermined threshold tensile force to avoid generating a detrimental moment about the joint based at least in part on the signals associated with the angle of the joint, the exosuit user activity, and the tensile force in the actuation member.