Wearable assistance devices and methods of operation
Wearable assistance devices and methods of operating the same are provided. A wearable assistance device includes an upper-body interface with a front side and a rear side and a lower-body interface with a front side and a rear side. The assistance device also includes one or more elastic members, each of the elastic members mechanically coupling the upper-body interface to the lower-body interface and extending from the rear side of the upper-body interface to the rear side of the lower-body interface and along a back of the user so as to provide an assistive force parallel to the back of the user. Further, the assistance device also includes a clutch mechanism associated with each one of the elastic members, the clutch mechanism configured for selectively adjusting the assistive force provided by the one of the elastic members.
1. A wearable lower back assistance device configured to be worn by a user, comprising:
an upper-body interface;
a lower-body interface;
one or more elastic members, each of the elastic members mechanically coupling the upper-body interface to the lower-body interface and extending from the upper-body interface to the lower-body interface and configured along a back of the user so as to provide an assistive force parallel to the back of the user, and configured to curve about a portion of a user's buttocks when the user bends forward;
a clutch mechanism associated with each one of the elastic members, wherein the clutch mechanism is configured for selectively adjusting the assistive force by changing a load path between the upper-body interface and the lower-body interface through one or more of the elastic members, when the clutch mechanism changes from disengaged to engaged; and
an actuator associated with the clutch mechanism for engaging and disengaging the clutch mechanism, and the actuator being located on a front of the upper-body interface,
wherein the upper-body interface is a garment top configured to cover at least a portion of shoulders of the user, and wherein the clutch mechanism is mechanically connected to the garment top.
2. The assistance device of claim 1 , wherein each of the elastic members comprises a first portion and a second portion connected in series, wherein the first portion is connected to the upper-body interface, wherein the second portion is connected to the lower-body interface, each of the first portion and the second portion having a different stiffness.
3. The assistance device of claim 2 , wherein the stiffness of the second portion is greater than the stiffness of the first portion.
4. The assistance device of claim 3 , wherein the clutch mechanism is positioned between the first portion and the second portion.
5. The assistance device of claim 1 , further comprising a processor configured for controlling an operation of the clutch mechanism.
6. The assistance device of claim 5 , further comprising at least one electromyography sensor communicatively coupled to the processor, and wherein the processor controls the operation of the clutch mechanism based on an output signal from the at least one electromyography sensor.
7. The assistance device of claim 5 , wherein the processor is further configured for receiving body dynamics data and adjusting the operation of the clutch mechanism based on the body dynamics data.
8. The assistance device of claim 5 , wherein the actuator is an electric motor that is controlled by the processor to adjust the operation of the clutch mechanism.
9. The assistance device of claim 1 , wherein each of the one or more elastic members comprises a first portion and a second portion connected in series, and wherein the first portion is connected to the upper-body interface, and the second portion is connected to the lower-body interface.
10. The assistance device of claim 9 , wherein the clutch mechanism sets the load path through one of the following first load paths:
A) the first portion and second portion of each elastic member;
B) the first portion of each elastic member; or
C) the second portion of each elastic member,
when the clutch mechanism is engaged; and
wherein the clutch mechanism sets the load path through a second load path different than the first load path, when the clutch mechanism is disengaged.
11. The assistance device of claim 1 , wherein a mechanical connection extends between the actuator and the clutch mechanism.
12. The assistance device of claim 11 , wherein the mechanical connection is a Bowden cable.
13. The assistance device of claim 1 , wherein the actuator is a button or other mechanism that can be triggered manually to adjust the operation of the clutch mechanism.
14. The assistance device of claim 1 , wherein the upper-body interface is in the form of a vest.
15. The assistance device of claim 1 , wherein the lower-body interface is in the form of leg sleeves or shorts.
16. The assistance device of claim 1 , wherein the one or more elastic members comprise:
a first elastic member extending from a right side of the upper-body interface to a left side of the lower-body interface; and
a second elastic member extending from a left side of the upper-body interface to a right side of the lower-body interface.
17. The assistance device of claim 1 , wherein the clutch mechanism comprises a rotating cam that fixates or clamps the one or more elastic members when the clutch mechanism is engaged.
18. A method for operating a wearable assistance device having an upper-body interface, a lower-body interface, one or more elastic members coupling the upper-body interface to the lower-body interface and extending from the upper-body interface to the lower-body interface and along a back of the user so as to provide an assistive force parallel to the back of the user, the one or more elastic members curving about a portion of a user's buttocks when the user bends forward, a clutch mechanism associated with each one of the elastic members, and an actuator associated with the clutch mechanism for engaging and disengaging the clutch mechanism, the actuator being located on a front of the upper-body interface and wherein the upper-body interface is a garment top configured to cover at least a portion of shoulders of the user, and wherein the clutch mechanism is mechanically connected to the garment top,
the method comprising:
determining, via a processor, whether a current activity of the user requires assistive force; and
upon determining that the current activity requires assistive force, generating, via the processor, control signals for the clutch mechanism that cause the clutch mechanism to increase the assistive force provided via an associated one of the elastic members, by changing a load path between the upper-body interface and the lower-body interface through the one or more of the elastic members, when the clutch mechanism changes from disengaged to engaged.
19. The method of claim 18 , wherein determining whether a current activity of the user requires assistive force further comprises:
receiving electromyogram (EMG) signals associated with the user;
identifying a trend in the EMG signals; and
ascertaining whether the current activity requires assistive force based on the trend.
20. The method of claim 19 , wherein the current activity is ascertained to require assistive force is the trend in the EMG signals is increasing.
21. The method of claim 19 , wherein the current activity is ascertained to not require assistive force is the trend in the EMG signals is decreasing.
22. The method of claim 18 , wherein each of the one or more elastic members comprises a first portion and a second portion connected in series, wherein the first portion is connected to the upper-body interface, and the second portion is connected to the lower-body interface.
23. The method of claim 22 , wherein the clutch mechanism sets the load path through one of the following first load paths:
A) the first portion and second portion of each elastic member;
B) the first portion of each elastic member; or
C) the second portion of each elastic member,
when the clutch mechanism is engaged; and
wherein the clutch mechanism sets the load path through a second load path different than the first load path, when the clutch mechanism is disengaged.
24. The method of claim 18 , further comprising:
upon determining that the current activity requires no assistive force, generating, via the processor, control signals for the clutch mechanism, the control signals configured to decrease the assistive force provided via an associated one of the elastic members.
25. The method of claim 18 , wherein determining whether a current activity of the user requires assistive force further comprises:
receiving, via the processor, body dynamics data for the user; and
ascertaining whether the current activity requires assistive force based on the body dynamics data.
26. The method of claim 18 , wherein the clutch mechanism comprises a rotating cam that fixates or clamps the one or more elastic members when the clutch mechanism is engaged.
27. The method of claim 18 , wherein the actuator is a button or other mechanism that can be triggered manually to adjust the operation of the clutch mechanism.
28. The method of claim 18 , wherein the actuator is an electric motor that is controlled by the processor to adjust the operation of the clutch mechanism.
29. A wearable lower back assistance device configured to be worn by a user, comprising:
an upper-body interface;
a lower-body interface;
at least one elastic member comprising at least a first portion connected to the upper-body interface and a second portion connected the lower-body interface, respectively, the first portion and the second portion of the at least one elastic member having different stiffnesses;
at least one clutch mechanism coupled to the at least one elastic member between the first and second portions thereof; and
an actuator associated with the clutch mechanism for engaging and disengaging the clutch mechanism, and the actuator being located on a front of the upper-body interface,
wherein the at least one elastic member mechanically couples the upper-body interface to the lower-body interface, thereby providing an assistive force to the back of the user, and the clutch mechanism is configured for selectively adjusting the assistive force by changing a load path between the upper-body interface and the lower-body interface, through the at least one elastic member, when the clutch mechanism changes from disengaged to engaged, and
wherein the upper-body interface is a garment top configured to cover at least a portion of shoulders of the user, and the at least one clutch mechanism is coupled to the garment top.
30. The assistance device of claim 29 , wherein a mechanical connection extends between the actuator and the clutch mechanism.
31. The assistance device of claim 30 , wherein the mechanical connection is a Bowden cable.
32. The assistance device of claim 29 , wherein the actuator is a button or other mechanism that can be triggered manually to adjust the operation of the clutch mechanism.
33. The assistance device of claim 29 , wherein the actuator is an electric motor that is controlled by the processor to adjust the operation of the clutch mechanism.