Soft exosuit for assistance with human motion
AssigneePresident and Fellows of Harvard College
InventorsAlan Thomas Asbeck, Ye Ding, Ignacio Galiana Bujanda, Sangjun Lee, Diana Wagner, Conor J. Walsh
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Abstract
Soft exosuit systems and methods for providing assistance with human motion, including hip motion and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.
Claims1
A method of assisting motion of a hip joint, comprising:
- determining a desired peak force or integral power to be generated by a wearable robotic system during a current gait cycle of a user;
- generating an actuation profile according to which the wearable robotic system is actuated to generate the desired peak force or integral power;
- monitoring real-time measurements of an angle of the hip joint to detect when the hip joint reaches a maximum flexion angle;
- and
- in response to detecting that the angle of the hip joint has reached the maximum flexion angle, actuating the wearable robotic system according to the actuation profile to assist with an extension motion of the hip joint of the user.
Dependencies are inferred from the claim text.