Personal augmentation suit and method for assisted human motion with back differential assembly
A human motion assistance device has upper back straps and is configured to attach to a user. A leg strap arrangement with lower back straps is configured to attach to the user. A differential assembly is connected between the upper back straps and lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gait. When crouching or lifting, the differential assembly transfers force to stretch and retract the upper torso harness and leg strap arrangement, which provides human motion assistance. The differential assembly can be implements as an x-bar, lever arm, pulley, gears, or tube. The leg strap arrangement has a knee pad adapted to cover a knee of the user. The knee pad opens along a segment. The upper torso harness has a shoulder strap and buckle. The leg strap arrangement is an elastic material.
1. A human assistance device, comprising:
an upper torso harness with upper back straps configured to attach to a user;
a leg strap arrangement with left and right lower back straps configured to attach to the user; and
a differential assembly connected between the upper back straps and left and right lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gaits;
wherein the differential assembly includes:
a first horizontal bar attached to the upper back straps;
a second horizontal bar attached to the first and second lower back straps;
a first cable connected between the first horizontal bar and second horizontal bar; and
a second cable connected between the first horizontal bar and second horizontal bar such that it crosses over the first cable;
wherein the first and second cables are attached to the second horizontal bar around revolute joints, such that opposite motion of the left and right lower back straps is permitted, but same direction motion of the left and right lower back straps is not permitted.
2. The human assistance device of claim 1 , wherein the leg strap arrangement includes a knee pad adapted to cover a knee of the user.
3. The human assistance device of claim 2 , wherein the knee pad opens along a segment.
4. The human assistance device of claim 1 , wherein the upper torso harness includes a shoulder strap and buckle.
5. The human assistance device of claim 1 , wherein the leg strap arrangement includes an elastic material.
6. A method of making a human assistance device, comprising:
providing an upper torso harness with upper back straps configured to attach to a user;
providing a leg strap arrangement with first and second lower back straps configured to attach to the user; and
providing a differential assembly connected between the upper back straps and the first and second lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gaits;
wherein providing the differential assembly includes:
providing a first horizontal bar attached to the upper back straps;
providing a second horizontal bar attached to the first and second lower back straps;
providing a first cable connected between the first horizontal bar and second horizontal bar; and
providing a second cable connected between the first horizontal bar and second horizontal bar such that it crosses over the first cable;
wherein the first and second cables are attached to the second horizontal bar around revolute joints, such that opposite motion of the left and right lower back straps is permitted, but same direction motion of the left and right lower back straps is not permitted.
7. The method of claim 6 , wherein providing the leg strap arrangement includes providing a knee pad adapted to cover a knee of the user.
8. The method of claim 7 , wherein the knee pad opens along a segment.
9. The method of claim 6 , wherein providing the upper torso harness includes providing a shoulder strap and buckle.
10. The method of claim 6 , wherein the leg strap arrangement includes an elastic material.
11. A human assistance device, comprising:
an upper torso harness configured to attach to a user;
a differential assembly attached to the upper torso harness; and
a leg strap arrangement including left and right lower back straps attached to the differential assembly, wherein the upper torso harness and leg strap arrangement are passive;
wherein the differential assembly includes:
a first horizontal bar attached to the upper torso harness;
a second horizontal bar attached to the leg strap arrangement;
a first cable connected between the first horizontal bar and second horizontal bar; and
a second cable connected between the first horizontal bar and second horizontal bar such that it crosses over the first cable:
wherein the first and second cables are attached to the second horizontal bar around revolute joints, such that opposite motion of the left and right lower back straps is permitted, but same direction motion of the left and right lower back straps is not permitted.
12. The human assistance device of claim 11 , wherein the upper torso harness includes a shoulder strap and upper back straps connected to the differential assembly.
13. The human assistance device of claim 11 , wherein the leg strap arrangement further includes:
a knee pad adapted to cover a knee of the user.
14. The human assistance device of claim 11 , wherein the leg strap arrangement includes an elastic material.