# US 9,427,864 B2 · Exosuit system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,427,864 B2 - Document ID: US9427864B2 - Status: Granted - Kind: B2 - Application number: 14/673,109 - Filed: 2015-03-30 - Published: 2015-09-24 - Granted: 2016-08-30 - Earliest claimed: 2013-03-15 - Assignees: SRI International - Applicants: SRI International - Inventors: Roy David Kornbluh; Alexander Steele Kernbaum; Thomas Low; Katherine Goss Witherspoon; Brian Keith McCoy; Adam Arnold Edward Ziemba; Paul Michael Birkmeyer; Richard M. Mahoney - Web page: https://patentgrep.com/patent/US9427864B2 ## CPC - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - A41D 1/005: {with embedded cable or connector} - A41D 13/002: with controlled internal environment - B25J 9/104: {with cables, chains or ribbons} - B25J 9/1615: {characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - F16D 28/00: Electrically-actuated clutches (arrangements for synchronisation F16D23/02; clutches actuated directly by means of an electromagnet F16D27/00; automatic clutches F16D43/00 - F16D45/00; external control F16D48/00) - G16Z 99/00: Subject matter not provided for in other main groups of this subclass - A41D 2400/38: Shaping the contour of the body or adjusting the figure - G05B 2219/36429: Power assisted positioning - G05B 2219/39345: Active compliance control, control tension of spring with DC motor - G05B 2219/40305: Exoskeleton, human robot interaction, extenders - Y10S 901/02: Arm motion controller - Y10T 29/49826: Assembling or joining - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A41D: OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES - G16Z: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer. ## Claims ### Claim 1 A method for body augmentation, comprising: coupling a programmable body augmentation system to a human body, wherein the programmable body augmentation system comprises: (a) one or more flexible linear actuators, wherein the one or more flexible linear actuators are operable to apply forces between segments of the human body such that the forces applied by the one or more flexible linear actuators augment forces applied by musculature in the human body; (b) one or more clutched-compliance elements, wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body; and (c) a controller, wherein the controller is configured to execute computer-readable programs to operate the one or more flexible linear actuators to apply forces between segments of the human body and to operate the clutched-compliance elements to provide controlled levels of compliance between segments of the human body in a plurality of different ways to provide a plurality of different modes of operation; selecting one of the modes of operation; and performing one or more actions of the human body related to the selected mode of operation while the controller operates the one or more flexible linear actuators to apply forces to the human body and operate the one or more clutched-compliance elements to provide levels of compliance between segments of the human body related to the one or more actions. ### Claim 2 (depends on 1) The method of claim 1, wherein the one or more flexible linear actuators, the one or more clutched-compliance elements, and the controller are coupled to a flexible suit, and wherein coupling the programmable body augmentation system to the human body comprises wearing the flexible suit over at least a portion of the human body. ### Claim 3 (depends on 1) The method of claim 1, further comprising: subsequently selecting a different one of the plurality of modes of operation; and performing one or more additional actions of the human body related to the subsequently-selected mode of operation while the controller controls the forces applied by the one or more flexible linear actuators and the compliance provided by the one or more clutched-compliance elements so as to assist the one or more additional movements. ### Claim 4 (depends on 1) The method of claim 1, wherein selecting one of the modes of operation comprises interacting with a user interface communicatively coupled to the controller. ### Claim 5 (depends on 1) The method of claim 1, wherein operating the one or more clutched-compliance elements to provide levels of compliance between segments of the human body comprises operating the one or more clutched-compliance elements to store mechanical energy from the human body during a first period of time, and wherein operating the one or more clutched-compliance elements to provide levels of compliance between segments of the human body comprises operating the one or more clutched-compliance elements to apply the mechanical energy stored during the first period of time to the human body during a second period of time. ### Claim 6 A method for body augmentation, comprising: providing a programmable body augmentation system, wherein the programmable body augmentation system comprises: (a) a flexible suit configured to worn over at least a portion of a human body; (b) a plurality of body-augmentation elements coupled to the flexible suit in a particular physical arrangement, the body-augmentation elements including one or more flexible linear actuators and one or more clutched-compliance elements, wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body, and wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body; (c) a controller disposed in the flexible suit, wherein the controller can be programmed to control the forces applied by the one or more flexible linear actuators and the compliance provided by the clutched-compliance elements; enabling a first mode of operation of the programmable body augmentation system, wherein the first mode of operation involves the one or more flexible linear actuators applying forces and the one or more clutched-compliance elements providing compliances related to a first type of action of the human body, and wherein enabling the first mode of operation of the programmable body augmentation system comprises programming the controller based on the first mode of operation without changing the particular physical arrangement of body-augmentation elements; and enabling a second mode of operation of the programmable body augmentation system, wherein the second mode of operation involves the one or more flexible linear actuators applying forces and the one or more clutched-compliance elements providing compliances related to a second type of action of the human body, wherein the second type of action is different than the first type of movement, and wherein enabling the second mode of operation of the programmable body augmentation system comprises programming the controller based on the second mode of operation without changing the particular physical arrangement of body-augmentation elements. ### Claim 7 (depends on 6) The method of claim 6, wherein the controller comprises: a processor; and a computer-readable storage medium configured to store one or more computer-readable programs, wherein the one or more computer-readable programs can be executed by the processor to cause the controller to operate the one or more flexible linear actuators and the one or more clutched-compliance elements. ### Claim 8 (depends on 7) The method of claim 7, wherein programming the controller based on the first mode of operation comprises storing a first computer-readable program in the computer-readable storage medium and programming the controller based on the second mode of operation comprises storing a second computer-readable programs in the computer-readable storage medium.