IP Library › Granted Patent US 9,351,900
Granted Patent B2
US 9,351,900 · App. 14/371,675 · Granted May 31, 2016

Soft exosuit for assistance with human motion

Inventors: Conor Walsh (Cambridge, MA); Alan Thomas Asbeck (Waltham, MA); Ignacio Galiana Bujanda (Cambridge, MA); Ye Ding (Cambridge, MA); Robert Joseph Dyer (Concord, MA); Arnar Freyr Larusson (Hanover, NH); Brendan Thomas Quinlivan (Rutland, MA); Kai Schmidt (Berlin, DE); Diana Wagner (Charlotte, NC); Michael Wehner (Berkeley, CA)
Assignee: President and Fellows of Harvard College
A61H3/00A61H1/024A61H1/0244A61H1/0266F03G7/08A61H2201/1215A61H2201/1238A61H2201/1246A61H2201/1261A61H2201/1481A61H2201/164A61H2201/165A61H2201/1628A61H2201/1652A61H2201/1664A61H2201/501A61H2201/5007A61H2201/5061A61H2201/5064A61H2201/5069A61H2201/5084A61H2201/5097A61H2230/60
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Quick Facts
Patent No.
US 9,351,900
App. No.
14/371,675
Filed
Jul 10, 2014
Granted
May 31, 2016
Kind
B2
Art Unit
3771
USPC
601/5
Abstract

In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

Claims (153)

1. A wearable soft exosuit comprising:

a first anchor element configured for positioning at or near a first body part of a person wearing the wearable soft exosuit;

a second anchor element configured for positioning at or near a second body part of the person wearing the wearable soft exosuit;

an actuation member coupled to the second anchor element configured to be behind an ankle joint of the person;

a plurality of connection elements extending between and connected directly or indirectly to the first anchor element and the actuation member, and at least one of the plurality of connection elements spanning at least one joint disposed between the first anchor element and the second anchor element;

at least one actuator; and

at least one controller configured to actuate the at least one actuator at a predetermined time during movement of the at least one joint to generate a beneficial moment about the at least one joint,

wherein each of the plurality of connection elements comprise webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,

wherein the at least one actuator comprises at least one motor driven actuator, at least one pneumatic actuator, or at least one hydraulic actuator,

wherein the second anchor element comprises a footwear anchor element,

wherein the first anchor element comprises a waist belt anchor element,

wherein the at least one actuator is configured to apply a tensile force to the second anchor element via the actuation member,

wherein the plurality of connection elements comprise a first connection element on a first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh, a second connection element on the first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, a third connection element on a second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, and a fourth connection element on the second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh,

wherein the first connection element and the fourth connection element are connected to form a first node at the position adjacent the center of the wearer's first thigh, and

wherein the second connection element and the third connection element are connected to form a second node at the position adjacent the center of the wearer's second thigh.

2. The wearable soft exosuit according to claim 1 , further comprising:

a first thigh brace for the wearer's first thigh;

a second thigh brace for the wearer's second thigh;

one or more connection elements connecting the first node to the first thigh brace; and

one or more connection elements connecting the second node to the second thigh brace.

3. The wearable soft exosuit according to claim 2 , further comprising:

a first lateral calf connection element connected to the first thigh brace;

a first medial calf connection element connected to the first thigh brace;

a second lateral calf connection element connected to the second thigh brace; and

a second medial calf connection element connected to the second thigh brace.

4. The wearable soft exosuit according to claim 3 ,

wherein the at least one actuator comprises a motor driven actuator configured to drive a first cable attached to a first footwear anchor element on a wearer's first foot and to drive a second cable attached to a second footwear anchor element on a wearer's second foot.

5. The wearable soft exosuit according to claim 4 ,

wherein the first footwear anchor element and the second footwear anchor element comprise a footwear insole insert defining a cable channel,

wherein a distal end of the first cable is fixed to the first footwear anchor element at a position proximal to the ankle joint to create a torque around the first ankle when the first cable is actuated, and

wherein a distal end of the second cable is fixed to the second footwear anchor element at a position proximal to the ankle joint to create a torque around the second ankle the second cable is actuated.

6. The wearable soft exosuit according to claim 1 , wherein the actuation member includes a flexible ribbon or a flexible cable.

7. The wearable soft exosuit according to claim 1 , wherein the plurality of connection elements are non-extensible.

8. The wearable soft exosuit according to claim 1 , wherein the plurality of connection elements are semi-extensible.

9. The wearable soft exosuit according to claim 1 , wherein the beneficial moment assists or promotes normal plantarflexion motion of the ankle joint.

10. The wearable soft exosuit according to claim 1 , wherein the beneficial moment assists or promotes normal flexion motion of a hip joint of the person.

11. The wearable soft exosuit according to claim 1 , wherein the beneficial moments assist or promote normal plantarflexion motion of the ankle joint and normal flexion motion of a hip joint.

12. A wearable soft exosuit comprising:

a first anchor element configured for positioning at or near a first body part of a person wearing the wearable soft exosuit;

a second anchor element configured for positioning at or near a second body part of the person wearing the wearable soft exosuit;

an actuation member coupled to the second anchor element configured to be behind an ankle joint of the person;

a plurality of connection elements extending between and connected directly or indirectly to the first anchor element and the actuation member, and at least one of the plurality of connection elements spanning at least one joint disposed between the first anchor element and the second anchor element;

at least one actuator; and

at least one controller configured to actuate the at least one actuator at a predetermined time during movement of the at least one joint to generate a beneficial moment about the at least one joint,

wherein at least some of the plurality of connection elements are connected to form at least one node,

wherein each of the plurality of connection elements comprise webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,

wherein the at least one actuator comprises at least one motor driven actuator, at least one pneumatic actuator, or at least one hydraulic actuator,

wherein the second anchor element comprises a footwear anchor element,

wherein the first anchor element comprises a waist belt anchor element,

wherein the at least one actuator is configured to apply a tensile force to the second anchor element via the actuation member,

wherein the plurality of connection elements comprise a first connection element on a first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh, a second connection element on the first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, a third connection element on a second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, and a fourth connection element on the second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh,

wherein the first connection element and the fourth connection element are connected to form a first node at the position adjacent the center of the wearer's first thigh, and

wherein the second connection element and the third connection element are connected to form a second node at the position adjacent the center of the wearer's second thigh.

13. The wearable soft exosuit according to claim 12 , further comprising:

a first thigh brace for the wearer's first thigh;

a second thigh brace for the wearer's second thigh;

one or more connection elements connecting the first node to the first thigh brace; and

one or more connection elements connecting the second node to the second thigh brace.

14. The wearable soft exosuit according to claim 13 , further comprising:

a first lateral calf connection element connected to the first thigh brace;

a first medial calf connection element connected to the first thigh brace;

a second lateral calf connection element connected to the second thigh brace; and

a second medial calf connection element connected to the second thigh brace.

15. The wearable soft exosuit according to claim 14 ,

wherein the at least one actuator comprises a motor driven actuator configured to drive a first cable attached to a first footwear anchor element on a wearer's first foot and to drive a second cable attached to a second footwear anchor element on a wearer's second foot.

16. The wearable soft exosuit according to claim 15 ,

wherein the first footwear anchor element and the second footwear anchor element comprise a footwear insole insert defining a cable channel,

wherein a distal end of the first cable is fixed to the first footwear anchor element at a position proximal to the ankle joint to create a torque around the first ankle when the first cable is actuated, and

wherein a distal end of the second cable is fixed to the second footwear anchor element at a position proximal to the ankle joint to create a torque around the second ankle the second cable is actuated.

17. The wearable soft exosuit according to claim 12 , wherein the actuation member includes a flexible ribbon or a flexible cable.

18. The wearable soft exosuit according to claim 12 , wherein the plurality of connection elements are non-extensible.

19. The wearable soft exosuit according to claim 12 , wherein the plurality of connection elements are semi-extensible.

20. The wearable soft exosuit according to claim 12 , wherein the beneficial moment assists or promotes normal plantarflexion motion of the ankle joint.

21. The wearable soft exosuit according to claim 12 , wherein the beneficial moment assists or promotes normal flexion motion of a hip joint of the person.

22. The wearable soft exosuit according to claim 12 , wherein the beneficial moments assist or promote normal plantarflexion motion of the ankle joint and normal flexion motion of a hip joint.

23. A wearable soft exosuit comprising:

a first anchor element configured for positioning at or near a first body part of a person wearing the wearable soft exosuit;

a second anchor element configured for positioning at or near a second body part of the person wearing the wearable soft exosuit;

an actuation member coupled to the second anchor element configured to be behind an ankle joint of the person;

a plurality of connection elements extending between and connected directly or indirectly to the first anchor element and the actuation member, and at least one of the plurality of connection elements spanning at least one joint disposed between the first anchor element and the second anchor element;

at least one actuator; and

at least one controller configured to actuate the at least one actuator at a predetermined time during movement of the at least one joint to generate a beneficial moment about the at least one joint,

wherein at least some of the plurality of connection elements are connected to form at least one node,

wherein each of the first anchor elements and second anchor element comprise at least one footwear anchor element, waist belt anchor element, shoulder strap anchor element, or node,

wherein each of the plurality of connection elements comprise webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,

wherein the at least one actuator comprises at least one motor driven actuator, at least one pneumatic actuator, or at least one hydraulic actuator,

wherein the second anchor element comprises a footwear anchor element,

wherein the first anchor element comprises a waist belt anchor element,

wherein the at least one actuator is configured to apply a tensile force to the second anchor element via the actuation member,

wherein the plurality of connection elements comprise a first connection element on a first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh, a second connection element on the first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, a third connection element on a second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, and a fourth connection element on the second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh,

wherein the first connection element and the fourth connection element are connected to form a first node at the position adjacent the center of the wearer's first thigh, and

wherein the second connection element and the third connection element are connected to form a second node at the position adjacent the center of the wearer's second thigh.

24. The wearable soft exosuit according to claim 23 , further comprising:

a first thigh brace for the wearer's first thigh;

a second thigh brace for the wearer's second thigh;

one or more connection elements connecting the first node to the first thigh brace; and

one or more connection elements connecting the second node to the second thigh brace.

25. The wearable soft exosuit according to claim 24 , further comprising:

a first lateral calf connection element connected to the first thigh brace;

a first medial calf connection element connected to the first thigh brace;

a second lateral calf connection element connected to the second thigh brace; and

a second medial calf connection element connected to the second thigh brace.

26. The wearable soft exosuit according to claim 25 ,

wherein the at least one actuator comprises a motor driven actuator configured to drive a first cable attached to a first footwear anchor element on a wearer's first foot and to drive a second cable attached to a second footwear anchor element on a wearer's second foot.

27. The wearable soft exosuit according to claim 26 ,

wherein the first footwear anchor element and the second footwear anchor element comprise a footwear insole insert defining a cable channel,

wherein a distal end of the first cable is fixed to the first footwear anchor element at a position proximal to the ankle joint to create a torque around the first ankle when the first cable is actuated, and

wherein a distal end of the second cable is fixed to the second footwear anchor element at a position proximal to the ankle joint to create a torque around the second ankle the second cable is actuated.

28. The wearable soft exosuit according to claim 23 , wherein the actuation member includes a flexible ribbon or a flexible cable.

29. The wearable soft exosuit according to claim 23 , wherein the plurality of connection elements are non-extensible.

30. The wearable soft exosuit according to claim 23 , wherein the plurality of connection elements are semi-extensible.

31. The wearable soft exosuit according to claim 23 , wherein the beneficial moment assists or promotes normal plantarflexion motion of the ankle joint.

32. The wearable soft exosuit according to claim 23 , wherein the beneficial moment assists or promotes normal flexion motion of a hip joint of the person.

33. The wearable soft exosuit according to claim 23 , wherein the beneficial moments assist or promote normal plantarflexion motion of the ankle joint and normal flexion motion of a hip joint.

34. A wearable soft exosuit comprising:

a first anchor element configured for positioning at or near a first body part of a person wearing the wearable soft exosuit;

a second anchor element configured for positioning at or near a second body part of the person wearing the wearable soft exosuit;

an actuation member coupled to the second anchor element configured to be behind an ankle joint of the person;

a plurality of connection elements extending between and connected directly or indirectly to the first anchor element and the actuation member, and at least one of the plurality of connection elements spanning at least one joint disposed between the first anchor element and the second anchor element;

at least one actuator; and

at least one controller configured to actuate the at least one actuator at a predetermined time during movement of the at least one joint to generate a beneficial moment about the at least one joint,

wherein at least some of the plurality of connection elements are connected to form at least one node,

wherein each of the first anchor elements and second anchor element are formed from at least one of webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,

wherein each of the plurality of connection elements comprise webbing, a strap, a cord, a functional textile, fabric, a wire, a cable, or a composite material,

wherein the at least one actuator comprises at least one motor driven actuator, at least one pneumatic actuator, or at least one hydraulic actuator,

wherein the second anchor element comprises a footwear anchor element,

wherein the first anchor element comprises a waist belt anchor element,

wherein the at least one actuator is configured to apply a tensile force to the second anchor element via the actuation member,

wherein the plurality of connection elements comprise a first connection element on a first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh, a second connection element on the first side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, a third connection element on a second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's second thigh, and a fourth connection element on the second side of the waist belt anchor element configured to extend from the waist belt to a position adjacent a center of the wearer's first thigh,

wherein the first connection element and the fourth connection element are connected to form a first node at the position adjacent the center of the wearer's first thigh, and

wherein the second connection element and the third connection element are connected to form a second node at the position adjacent the center of the wearer's second thigh.

35. The wearable soft exosuit according to claim 34 , further comprising:

a first thigh brace for the wearer's first thigh;

a second thigh brace for the wearer's second thigh;

one or more connection elements connecting the first node to the first thigh brace; and

one or more connection elements connecting the second node to the second thigh brace.

36. The wearable soft exosuit according to claim 35 , further comprising:

a first lateral calf connection element connected to the first thigh brace;

a first medial calf connection element connected to the first thigh brace;

a second lateral calf connection element connected to the second thigh brace; and

a second medial calf connection element connected to the second thigh brace.

37. The wearable soft exosuit according to claim 36 ,

wherein the at least one actuator comprises a motor driven actuator configured to drive a first cable attached to a first footwear anchor element on a wearer's first foot and to drive a second cable attached to a second footwear anchor element on a wearer's second foot.

38. The wearable soft exosuit according to claim 37 ,

wherein the first footwear anchor element and the second footwear anchor element comprise a footwear insole insert defining a cable channel,

wherein a distal end of the first cable is fixed to the first footwear anchor element at a position proximal to the ankle joint to create a torque around the first ankle when the first cable is actuated, and

wherein a distal end of the second cable is fixed to the second footwear anchor element at a position proximal to the ankle joint to create a torque around the second ankle the second cable is actuated.

39. The wearable soft exosuit according to claim 34 , wherein the actuation member includes a flexible ribbon or a flexible cable.

40. The wearable soft exosuit according to claim 34 , wherein the plurality of connection elements are non-extensible.

41. The wearable soft exosuit according to claim 34 , wherein the plurality of connection elements are semi-extensible.

42. The wearable soft exosuit according to claim 34 , wherein the beneficial moment assists or promotes normal plantarflexion motion of the ankle joint.

43. The wearable soft exosuit according to claim 34 , wherein the beneficial moment assists or promotes normal flexion motion of a hip joint of the person.

44. The wearable soft exosuit according to claim 34 , wherein the beneficial moments assist or promote normal plantarflexion motion of the ankle joint and normal flexion motion of a hip joint.

Assignments (3)
CONFIRMATORY LICENSE Recorded Jan 6, 2015
From: HARVARD UNIVERSITY
To: NATIONAL SCIENCE FOUNDATION
Reel/Frame 034730/0367 →
CORRECTIVE ASSIGNMENT TO CORRECT THE ASSIGNOR NAME PREVIOUSLY RECORDED AT REEL: 033909 FRAME: 0192. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Recorded Dec 9, 2014
From: GALIANA BUJANDA, IGNACIO
To: PRESIDENT AND FELLOWS OF HARVARD COLLEGE
Reel/Frame 034565/0923 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Oct 8, 2014
From: ASBECK, ALAN T.; BUJANDA, IGNACIO GALIANA; DING, YE; DYER, ROBERT JOSEPH; LARUSSON, ARNAR FREYR; QUINLIVAN, BRENDAN THOMAS; SCHMIDT, KAI; WAGNER, DIANA; WALSH, CONOR JAMES; WEHNER, MICHAEL
To: PRESIDENT AND FELLOWS OF HARVARD COLLEGE
Reel/Frame 033909/0192 →
Continuity (4)
Provisional Application 61873433 · Sep 4, 2013
Provisional Application 61829686 · May 31, 2013
Provisional Application 61701970 · Sep 17, 2012
Related Publication 20150173993A1 · Jun 25, 2015