Wearable device to assist with the movement of limbs

A method for assisting with the movement of limbs connected at a joint, the method comprising:

• providing a configuration that includes a linear actuator and two limb fasteners, the linear actuator exclusively interconnecting the two limb fasteners, and the linear actuator having a motor capable of generating linear motion in a controlled and incremental manner by converting rotary motion;
• attaching the configuration to the limbs connected at the joint, using the limb fasteners, such that linear motion generated by the linear actuator imparts an active force to move and pivot the limb about the joint, wherein said active force exclusively augments voluntary limb movement;
• measuring a change of force applied to the linear actuator;
• measuring the displacement of the linear actuator when linear motion is generated;
• and generating linear motion having a predetermined velocity using the linear actuator to assist with the movement of the limbs based on when the measured change of force applied by the limbs to the linear actuator is greater than a pre-defined stationary threshold, and wherein the linear motion generated is correlated with the extent to which the measured change of force exceeds the stationary threshold and the displacement.

A system for assisting with the movement of limbs connected at a joint, the system comprising:

• a linear actuator having a motor capable of generating linear motion in a controlled and incremental manner by converting rotary motion;
• a first limb fastener for attaching to a first limb and a second limb fastener for attaching to a second limb, the limb fasteners being exclusively interconnected by the linear actuator's respective distal ends;
• the combination of the limb fasteners and the linear actuator configured such that linear motion generated by the linear actuator imparts an active force to move and pivot the limb about the joint, wherein said active force exclusively augments voluntary limb movement;
• a load cell configured to measure a force applied to the linear actuator;
• a potentiometer configured to measure the displacement of the linear actuator when linear motion is generated;
• a portable control unit operatively connected to the linear actuator, the portable control unit comprising a battery to supply power to the linear actuator and a processor configured to control the level of assistance generated by the linear actuator;
• and a microcontroller unit for processing the force and displacement measurements, wherein when a measured change of force applied by the limbs to the linear actuator is greater than a pre-defined stationary threshold, the microcontroller unit activates the linear actuator to generate a linear motion correlated to the measured change of force above the stationary threshold and the displacement, thereby providing an assistive force.