Leg locomotion devices

A leg locomotion system, comprising:

• a first leg locomotion device, including,
• a first frame configured to be mounted to a user's leg proximate a first leg joint, the first frame including two first frame components movable relative to one another in response to movement of the user's leg at the first leg joint,
• a first energy harvesting device coupled to the first frame and configured to harvest energy from the movement of the two first frame components during a portion of a stride of the user's leg, and
• a first assist device coupled to the first frame and configured to move the first frame components relative to one another to selectively assist with movement of the user's leg at the first leg joint during a portion of the stride;
• a second leg locomotion device, including,
• a second frame configured to be mounted to the user's leg proximate a second leg joint, the second frame including two second frame components movable relative to one another in response to movement of the user's leg at the second leg joint,
• a second energy harvesting device coupled to the second frame and configured to harvest energy from the movement of the two second frame components during a portion of the stride, and
• a second assist device coupled to the second frame and configured to move the second frame components relative to one another to selectively assist with movement of the user's leg at the second leg joint during a portion of the stride;
• and
• an energy storage device coupled to the first and second energy harvesting devices, the energy storage device configured to store harvested energy from the first and second energy harvesting devices over more than one stride, and the energy storage device coupled to the first and second assist devices to provide energy thereto.

A method of operating a leg locomotion device, comprising:

• mounting a frame to a user's leg, the frame including two frame components movable relative to one another;
• moving the two frame components in response to movement of the user's leg;
• harvesting energy from the movement of the two frame components during a first portion of a stride of the user's leg with an energy harvesting device;
• storing harvested energy in an energy storage device over more than one stride of the user's leg;
• providing energy from the energy storage device to an assist device;
• and
• activating the assist device to move the two frame components relative to one another to assist with movement of the user's leg during a second portion of the stride.