Hip exosuit to assist hip flexion and extension

1 . A hip exosuit comprising:

a hip belt comprising one or more removably attached hip anchors;

a leg brace;

one or more anterior actuators, wherein each of the one or more anterior actuators is attached at a first end to a hip anchor, wherein each of the one or more anterior actuators is attached at a second end to the leg brace; and

one or more posterior actuators, wherein each of the one or more posterior actuators is attached at a first end to a hip anchor, wherein each of the one or more posterior actuators is attached at a second end to the leg brace,

wherein the one or more anterior actuators and one or more posterior actuators comprise one or more flat fabric pneumatic artificial muscles (ff-PAMs), wherein each ff-PAM comprises a plurality of pressure chambers, wherein an inflated state of each plurality of pressure chambers contracts the respective ff-PAM,

wherein each of the one or more anterior actuators is configured to contract in response to a first signal, and

wherein each of the one or more posterior actuators is configured to contract in response to a second signal.

2 . The hip exosuit of claim 1 , wherein:

the one or more anterior actuators comprise a first anterior actuator and a second anterior actuator,

the hip anchor attached to the first anterior actuator is attached to the hip belt in an anteromedial location,

the hip anchor attached to the second anterior actuator is attached to the hip belt in an anterolateral location, and

the first anterior actuator and the second anterior actuator are attached to the leg brace in an anterolateral location and an anteromedial location, respectively.

3 . The hip exosuit of claim 2 , wherein:

the one or more posterior actuators comprise a first posterior actuator and a second posterior actuator,

the hip anchor attached to the first posterior actuator is attached to the hip belt in a posteromedial location,

the hip anchor attached to the second posterior actuator is attached to the hip belt in a posterolateral location, and

the first posterior actuator and the second posterior actuator are attached to the leg brace in a posterolateral location and a posteromedial location, respectively.

4 . The hip exosuit of claim 1 , further comprising at least one pressure regulator interfaced to the one or more anterior actuators and the one or more posterior actuators.

5 . The hip exosuit of claim 4 , wherein the at least one pressure regulator is contained in a wearable pouch.

6 . The hip exosuit of claim 1 , wherein each hip anchor is configured to allow adjustment of the placement of the attached anterior or posterior actuator.

7 . The hip exosuit of claim 1 , wherein the one or more anterior actuators and the one or more posterior actuators each comprise a soft and compliant material.

8 . The hip exosuit of claim 7 , wherein the soft and compliant material comprises at least one of neoprene, spandex, and nylon.

9 . The hip exosuit of claim 3 , wherein the first anterior actuator and the second anterior actuator cross over one another to form an X configuration, and wherein the first posterior actuator and the second posterior actuator cross over one another to form an X configuration.

10 . The hip exosuit of claim 1 , further comprising:

a control circuit configured to produce the first and second signal; and

one or more pressure sensors, interfaced to the control circuit.

11 . The hip exosuit of claim 10 , wherein:

the one or more pressure sensors monitor the pressure in at least one of:

the one or more anterior actuators, or

the one or more posterior actuators.

12 . A method of assisting a motion of a hip of a subject, the method comprising:

applying the hip exosuit of claim 1 to the hip of the subject;

contracting the one or more anterior actuators in response to the first signal; and

contracting the one or more posterior actuators in response to the second signal.

13 . The method of claim 12 , wherein the motion comprises flexion, extension, or a combination thereof.

14 . A hip exosuit comprising:

a hip belt comprising one or more removably attached hip anchors;

a leg brace;

a first actuator; and

a second actuator;

wherein the hip anchor attached to the first actuator is attached to the hip belt in an anterior location and the hip anchor attached to the second actuator is attached to the hip belt in a medial location,

wherein the first actuator and the second actuator are attached to the leg brace in a medial location and an anterior location, respectively,

wherein the first actuator and the second actuator comprise one or more flat fabric pneumatic artificial muscles (ff-PAMs), wherein each ff-PAM comprises a plurality of pressure chambers, wherein an inflated state of each plurality of pressure chambers contracts the respective ff-PAM, and

wherein the first and second actuator are configured to contract in response to a signal.

15 . The hip exosuit of claim 14 , wherein the hip anchor is adjustable.

16 . The hip exosuit of claim 15 , wherein the hip anchor is configured to allow adjustments in placement of the first actuator or the second actuator.

17 . The hip exosuit of claim 14 , wherein the first actuator and the second actuator cross over one another to form an X configuration.

18 . The hip exosuit of claim 17 , wherein the first actuator and the second actuator each comprise two ff-PAMs arranged in parallel.

19 . The hip exosuit of claim 18 , wherein the plurality of pressure chambers are separated via a seal.

20 . The hip exosuit of claim 14 ,

further comprising a third actuator and a fourth actuator;

wherein the hip anchor attached to the third actuator is attached to the hip belt in a medial location, and the hip anchor attached to the fourth actuator is attached to the hip belt in a posterior location,

wherein the third actuator and the fourth actuator are attached to the leg brace in a posterior location and a medial location, respectively,

wherein the third actuator and the fourth actuator comprise one or more flat fabric pneumatic artificial muscles (ff-PAMs), wherein each ff-PAM comprises a plurality of pressure chambers, wherein an inflated state of each plurality of pressure chambers contracts the respective ff-PAM,

wherein the third and fourth actuator are configured to contract in response to a signal,

wherein the first actuator and the second actuator cross over one another to form an X configuration, and wherein the third actuator and the fourth actuator cross over one another to form an X configuration,

wherein the first, second, third and fourth actuator each comprise two ff-PAMs arranged in parallel.