JP2020512039A - Patch system for use with auxiliary exterior suits - Google Patents

Abstract

Described herein are exterior suit systems and methods according to various embodiments. The exterior suit system may be a suit worn outside the wearer's body. The exterior suit system can be worn under the wearer's normal garment, over the garment, or between layers of the garment, or it can be the wearer's primary garment itself. The outer suit physically assists the wearer in performing certain activities and thus may be supplemental, or may convey information to the wearer through physical expression to the body, involvement of the environment. , Or other functions such as capturing information from the wearer. One or more patch assemblies can be removably coupled to the exterior suit. [Selection diagram] Fig. 21A

Description

(Cross-reference of related applications)
This application claims priority to U.S. Provisional Patent Application No. 62 / 431,779, filed December 08, 2016, the disclosures of which are incorporated herein by reference in their entireties. This application is a continuation-in-part of US patent application Ser. No. 15 / 684,466 filed August 23, 2017, which is filed on August 23, 2016. Filed US Provisional Patent Application No. 62 / 378,471, filed August 23, 2016 US Provisional Patent Application No. 62 / 378,555, and filed December 08, 2016 Claims priority to US Provisional Patent Application No. 62 / 431,779.

  Wearable robotic systems are being developed to augment the natural abilities of humans or to replace the functions lost due to injury or disease. One example of these systems is the ReWalk Exoskeleton System by ReWalk robotics. ReWalk's system includes a rigid exoskeleton with powered actuators in the knee and hip joints to allow assisted walking of paraplegic patients. However, this system has a large rigid frame, requires caregiver assistance, and is intended for paraplegic patients due to spinal cord injury. The ReWalk device is not suitable for people with a low degree of disability, nor is it suitable for enhancing the function of healthy people.

  An example of an exosuit system is described in US Pat. No. 9,266,233, entitled “Exterior Suit System,” which includes a flexible linear actuator and a wearer's body. Several concepts have been cited for armor suits with a clutched compliance element that provides and / or adjusts force and / or compliance between zones of the. The disclosure of US Pat. No. 9,266,233 describes extensively the techniques that can be utilized in an exterior suit system, but the associated subsystems necessary to provide an auxiliary exterior suit system for a particular application. Requirements, interactions, geometries, and positions are not taught.

US Pat. No. 9,266,233

  Exterior suit systems and methods according to various embodiments are described herein. The exterior suit system can be a suit that the wearer wears outside his body. The exterior suit system can be worn under the wearer's normal garment, over the garment, or between layers of the garment, or it can be the wearer's primary garment itself. The outer suit physically assists the wearer in performing certain activities and thus may be auxiliary, or may convey information to the wearer through physical expression to the body, involvement of the environment. , Or other functions such as capturing information from the wearer. One or more patch assemblies can be removably coupled to the outersuit.

  In one embodiment, a patch assembly is provided that includes a housing removably coupled to an exterior suit. The housing is coupled to a mounting component for securing the housing to the exterior suit, at least one flexible linear actuator (FLA), at least one battery, at least one FLA and at least one battery, Control electronics configured to selectively activate at least one FLA to provide muscle exercise assistance to a user of the outer suit.

  In another embodiment, an exterior suit is provided that can include a base layer that includes a plurality of load distribution members and a plurality of patch assemblies removably coupled to the base layer through the plurality of load distribution members. To be done. Each of the plurality of patch assemblies may include a housing, the housing including mounting components for securing the housing to the exterior suit, at least one flexible linear actuator (FLA), and at least one A battery and at least one FLA and control electronics coupled to the at least one battery and configured to selectively activate the at least one FLA to provide muscle exercise assistance to a user of the outersuit. be able to.

  In yet another embodiment, a plurality of auxiliary motion patch assemblies are provided, the plurality of auxiliary motion patch assemblies being removably coupled to a plurality of load distribution members on a front side and a rear side of the outer suit. Flexible base material, a plurality of sensors fixed to the flexible base material, a plurality of batteries fixed to the flexible base material, and a plurality of flexible parts fixed to the flexible base material. Linear actuator (FLA), control electronics secured to a flexible substrate, power and communication networks coupled to sensors, batteries, FLA and control electronics. Then, the control electronics are activated to selectively activate the plurality of FLAs to provide muscle exercise assistance to the user of the outer suit.

  Various objects, features, and advantages of the disclosed subject matter can be better understood by reference to the following detailed description of the disclosed subject matter, when the same reference numbers are considered in connection with the accompanying drawings, which represent the same elements. Fully understandable.

FIG. 6 is a front view of an auxiliary exterior suit in which a stabilizing layer is continuously integrated with a base layer, according to some embodiments of the present disclosure. FIG. 8 is a rear view of an auxiliary armor suit in which a stabilizing layer is continuously integrated with a base layer, according to some embodiments of the present disclosure. FIG. 6 is a side view of an auxiliary armor suit in which a stabilizing layer is continuously integrated with a base layer according to some embodiments of the present disclosure. FIG. 6 is a front view of an auxiliary armor suit having discrete stabilizer layers components attached to a base layer (power layer not shown) according to some embodiments of the present disclosure. FIG. 6 is a rear view of an auxiliary armor suit having discrete stabilizer layers components attached to a base layer (power layer not shown) according to some embodiments of the present disclosure. FIG. 6 is a side view of an auxiliary armor suit having discrete stabilizer layers components attached to a base layer (power layer not shown) according to some embodiments of the present disclosure. FIG. 6 is an exemplary front view of a base layer without a stable or power layer, according to some embodiments of the present disclosure. FIG. 6 is an exemplary back view of a base layer without a stable or power layer, according to some embodiments of the present disclosure. FIG. 6 is an exemplary side view of a base layer without a stable or power layer, according to some embodiments of the present disclosure. FIG. 6 illustrates an exemplary chassis strap system configured to be worn around a wearer's lower torso region, according to some embodiments of the present disclosure. FIG. 6A illustrates a yoke distribution member disposed around a wearer's upper torso region, according to some embodiments of the present disclosure. FIG. 6 is a front view of an auxiliary exterior suit to be worn on a wearer's clothing, according to some embodiments of the present disclosure. FIG. 8 is a rear view of an auxiliary exterior suit to be worn on a wearer's clothing, according to some embodiments of the present disclosure. FIG. 8 is a side view of an auxiliary exterior suit to be worn on a wearer's clothing, according to some embodiments of the present disclosure. FIG. 3 is a detailed view of an auxiliary outersuit suit to be worn on a wearer's clothing, including a load distribution member with a pivot and a compression element attached to the body, according to some embodiments of the present disclosure. is there. FIG. 6 is a detailed view of a posture support subsystem of an auxiliary exterior suit to be worn on a wearer's clothing, according to some embodiments of the present disclosure. FIG. 6 illustrates another outerwear type auxiliary outer suit (OAE) system intended to be worn on the wearer's clothing, according to some embodiments of the present disclosure. FIG. 6 illustrates another outerwear type auxiliary outer suit (OAE) system intended to be worn on the wearer's clothing, according to some embodiments of the present disclosure. FIG. 6 illustrates another outerwear type auxiliary outer suit (OAE) system intended to be worn on the wearer's clothing, according to some embodiments of the present disclosure. FIG. 6 illustrates another outerwear type auxiliary outer suit (OAE) system intended to be worn on the wearer's clothing, according to some embodiments of the present disclosure. FIG. 6 illustrates another outerwear type auxiliary outer suit (OAE) system intended to be worn on the wearer's clothing, according to some embodiments of the present disclosure. FIG. 6 illustrates a studio retail or service environment, according to some embodiments of the present disclosure. 6 is a flow chart of a process of providing an auxiliary exterior suit system, according to some embodiments of the present disclosure. FIG. 6 illustrates a platform and communication network for an auxiliary exterior suit system, according to some embodiments of the present disclosure. FIG. 6 illustrates a motion profile of a standing activity according to some embodiments of the present disclosure. FIG. 6 illustrates a motion profile of a sitting activity according to some embodiments of the present disclosure. FIG. 6 illustrates a motion profile providing posture stability, according to some embodiments of the present disclosure. FIG. 6 illustrates a gait assist motion profile, according to some embodiments of the present disclosure. FIG. 6 illustrates one embodiment of a process for performing standing assistance, according to some embodiments of the present disclosure. FIG. 6 illustrates one embodiment of a process for performing a walking aid, according to some embodiments of the present disclosure. FIG. 6 illustrates one embodiment of a process for performing standing posture support assistance, according to some embodiments of the present disclosure. FIG. 6 illustrates one embodiment of a process for performing seating assistance, according to some embodiments of the present disclosure. 6 is a timing chart of a standing activity / action according to some embodiments of the present disclosure. FIG. 3A is a schematic and operational profile of a flexible linear actuator with clutch (FLA) according to some embodiments of the present disclosure. FIG. 6 is a front view of an exterior suit, according to some embodiments of the present disclosure. FIG. 6 is a rear view of an exterior suit, according to some embodiments of the present disclosure. FIG. 6 is a side view of an exterior suit, according to some embodiments of the present disclosure. FIG. 3 is a front view of a one-piece suit type auxiliary outer suit according to some embodiments of the present disclosure. FIG. 6 is a rear view of a one-piece suit type auxiliary outer suit according to some embodiments of the present disclosure. FIG. 6 is a conceptual diagram of a twist string actuator (TSA) motor and spindle arrangement, according to some embodiments of the present disclosure. FIG. 6 is a conceptual diagram of a TSA configuration with force sensing capability according to some embodiments of the present disclosure. FIG. 6 illustrates a TSA configuration with a hollow motor and cycloid driver, according to some embodiments of the present disclosure. FIG. 6 illustrates a TSA configuration with O-ring drive, force sensing and length sensing capabilities, according to some embodiments of the present disclosure. FIG. 6 illustrates a TSA configuration with an O-ring drive and a low profile housing, according to some embodiments of the present disclosure. FIG. 6 illustrates a TSA configuration with O-ring drive and length sensing according to some embodiments of the present disclosure. FIG. 6 illustrates a TSA configuration with a staged actuator and clutch element, according to some embodiments of the present disclosure. FIG. 6 illustrates an array of FLAs and clutch elements according to some embodiments of the present disclosure. FIG. 6 illustrates an application of an array of FLA and clutch elements according to some embodiments of the present disclosure. FIG. 6 illustrates a possible configuration of a load balancing strap, according to some embodiments of the present disclosure. FIG. 6 is a cross-sectional view of a load balancing strap according to some embodiments of the present disclosure. FIG. 4 is a front right perspective view of an undergarment auxiliary exterior suit with modular components, according to certain embodiments of the present disclosure. FIG. 6 is a right rear view of an undergarment auxiliary exterior suit with modular components, according to certain embodiments of the present disclosure. FIG. 6 is a detailed view of modular components of an undergarment auxiliary exterior suit, according to certain embodiments of the present disclosure. FIG. 1 illustrates one embodiment of an undergarment type auxiliary outer suit having a module patch and various usage situations. FIG. 6 is a front view of a plurality of different load distribution members positioned at various positions of a human body. FIG. 6 is a rear view of a plurality of different load distribution members positioned at various positions on the human body. FIG. 6 is a side view of a plurality of different load distribution members positioned at various positions on the human body. FIG. 6 illustrates an exterior suit and system configured to communicate with a PPSO, according to various embodiments. FIG. 6 is a schematic diagram of a control scheme for an exterior suit, according to various embodiments. FIG. 6 is an exemplary block diagram of an exterior suit configured to receive a patch assembly, according to various embodiments. FIG. 6 is an exemplary block diagram of a patch assembly according to one embodiment. FIG. 6 illustrates an exemplary plurality of auxiliary motion patch assemblies according to one embodiment. FIG. 28 is an exemplary back view, side view, and front view of the patch assembly of FIG. 27 when secured to an exterior suit. 6A-6C are exemplary back, side, and front views of a base layer of an exterior suit, according to various embodiments. 6A-6C are exemplary back, side, and front views of an exterior suit with a patch assembly attached in accordance with various embodiments. FIG. 6 is an exemplary front view of a women's exterior suit base layer according to one embodiment. FIG. 6 is an exemplary rear view of a women's exterior suit base layer according to one embodiment. FIG. 3 is an exemplary front and back view of a female outersuit base layer with a patch assembly and cover layer according to one embodiment.

  In order to provide a thorough understanding of the disclosed subject matter, the following detailed description sets forth many of the disclosed subject matter's systems, methods and media, and the environments in which such systems, methods and media may operate. Specific details are described. However, the disclosed subject matter may be practiced without such specific details, and certain features well known to those of ordinary skill in the art have been described in detail in order to avoid complicating the disclosed subject matter. It is understood by those skilled in the art that it is not explained in the above. In addition, it should be understood that the examples provided below are illustrative, and it is contemplated that there are other systems, methods and media within the scope of the disclosed subject matter.

  In the following description, an exterior suit or an auxiliary exterior suit is a suit worn by the wearer outside his body. The outer suit or auxiliary outer suit may be worn under the wearer's normal clothing, on top of the clothing, or between layers of the clothing, or may be the wearer's primary clothing itself. The outer suit physically assists the wearer in performing certain activities and thus may be auxiliary, or may convey information to the wearer through physical expression to the body, involvement of the environment. , Or other functions such as capturing information from the wearer. In some embodiments, the powered exterior suit system can include multiple subsystems or layers. In some embodiments, the powered exterior suit system can include more or less subsystems or layers. Subsystems or layers can include base layers, stable layers, power layers, sensor and control layers, cover layers, and user interface / user experience (UI / UX) layers.

(Base layer)
The base layer provides the contact between the exterior suit system and the wearer's body. The base layer may be adapted for direct contact with the skin of the wearer, between the undergarment and the outer layer of the garment, or over the outer layer of the garment, or a combination thereof, or the base layer The layer can be designed to be worn as the main garment itself. In some embodiments, the base layer may be adapted to be both comfortable and unobtrusive, as well as to comfortably and efficiently transfer loads from the stabilizing layer to provide the desired assistance. it can. The base layer can typically comprise a number of different material types to achieve these ends. The elastic material can provide compliance to match the wearer's body and allow some range of movement. The innermost layer is usually adapted to grip the wearer's skin, undergarment, or clothing and prevent the base layer from slipping when loaded. A substantially non-stretchable material can be used to transfer loads from the stabilizing and power layers to the wearer's body. These materials can be substantially inextensible in one axis, but flexible or extensible in the other, so that the load transfer is along a preferred path. The load transfer path distributes the load across the area of the wearer's body, minimizing the force felt by the wearer while allowing efficient load transfer with minimal loss and without causing slippage of the base layer. Can be optimized. Overall, this load transfer arrangement within the base layer can be referred to as a load distribution member. A load distribution member refers to a flexible element that distributes a load over an area of a wearer's body. An example of a load distribution member can be found in International Patent Application PCT / US / 16/19565 entitled "Flex grip".

  The load distribution member may incorporate one or more catenary curves to distribute the load across the wearer's body. Multiple load distribution members or suspension curves can be joined at pivot points, and when a load is applied to the structure, the array of pivot parts of the load distribution members tightens or contracts on the body to increase grip strength. It will increase. For comfort or structural purposes, compression elements such as battens, rods, or stays can be used to transfer loads to various areas of the base layer. For example, the power layer components can be terminated at the back due to their size and orientation requirements, while the load balancing members that secure the power layer components can be at the lower back. In this case, the one or more compression elements can transfer the load from the power layer component on the back to the load distribution member on the lower back.

  The load distribution member can be constructed using multiple manufacturing techniques and fabric construction techniques. For example, the load distribution member may be a layered woven fabric 45 ° / 90 ° with bond edges, spandex teeth, an organza (poly) fabric 45 ° / 90 ° with bond edges, an organza (cotton / silk) fabric 45. ° / 90 °, and Tyvek (nonwoven laser). The load distribution member can be constructed using knit and lace, or horsehair and spandex teeth. The load distribution member can be constructed with channels and / or races.

  The base layer is configured to compress against a portion of the wearer's body directly against the skin or against the garment layer to provide a relatively high grip surface for attaching one or more load distribution members. A flexible underlayer provided may be included. The load distribution member is coupled to the flexible underlayer and transmits shear or other forces from the load distribution member to the skin of the body area or to clothing worn over the body area through the flexible underlayer. It may facilitate, maintain the trajectory of the load distribution member relative to such body area, or provide any other function. Such a flexible underlayer has a different flexibility and / or compliance than the load distribution member (eg, less than the flexibility and / or compliance of the member at least in a direction along the load distribution member). As a result, the load distribution member transmits a force along its length to the skin of the body area to which the flexible body harness is attached, along the length thereof, and shear force is applied. Can be evenly distributed.

  Moreover, such a flexible underlayer can be configured to provide additional functionality. The material of the flexible underlayer can include antimicrobial agents, antifungal agents, or other agents (eg, silver nanoparticles) to prevent microbial growth. The flexible underlayer can be configured to manage the transfer of heat and / or moisture (eg, sweat) from the wearer to improve wearer comfort and activity efficiency. The flexible underlayer is configured to maintain a particular relationship between straps, seams, hook-and-loop fasteners, clasps, zippers, or elements of the load distribution member and the condition of the wearer's anatomy. Elements can be included. The underlayer may further improve the ease with which a wearer can put on and / or take off a flexible body harness and / or a system including the flexible body harness (eg, a flexible outer suit system) or garment. it can. The underlayer protects the wearer from ballistic weapons, sharp blades, metal fragments of bombs, or other environmental hazards (eg, by including panels or flexible elements of para-aramid or other high strength materials). It can be further configured.

  The base layer may further include features such as sizing, openings, and electromechanical integration features to improve ease of use and wearer comfort.

(Size adjustment)
The size adjustment mechanism allows the outer suit to be adjusted to the wearer's body. Size adjustments may allow the suit to be tightened or loosened around the length or circumference of the torso or limbs. The adjustment can include lacing, Boa system, webbing, elastics, hook-and-loop fasteners, or other fasteners. Size adjustment can be accomplished by the load distribution member itself as it tightens the wearer under load. In one embodiment, the perimeter of the torso is strapped in a corset style, the legs are hook-and-loop fasteners in a folded configuration, and the length and shoulder height are webbing and cam locks, D-rings or the like. It can be adjusted with the tension lock fastener. The base layer sizing mechanism is actuated by the power layer to dynamically adjust the base layer to the wearer's body in different positions to maintain consistent pressure and comfort on the wearer. be able to. For example, the base layer may require tightening the thigh when standing and slack in the sitting position so that the base layer does not excessively contract the thigh when sitting. Dynamic sizing can be controlled by sensors and control layers, for example, by detecting pressure or force on the base layer and actuating a power supply layer to consistently achieve the desired force or pressure. While this mechanism does not necessarily allow the suit to provide physical assistance, it can provide a more comfortable experience for the wearer, or better suit the physical assistance elements of the suit depending on the purpose of the exercise assistance. Or it can be performed differently.

(Open)
An opening mechanism may be provided in the base layer in order to facilitate wearing (wearing of the outer suit) and undressing (undressing of the outer suit) for the wearer. The opening mechanism can include zippers, hook-and-loop fasteners, snaps, buttons, or other fabric fasteners. In one embodiment, the front center zipper provides the opening mechanism for the fuselage, while the hook-and-loop fastener provides the opening mechanism for the legs and shoulders. In this case, the hook-and-loop fastener provides both the opening mechanism and the adjusting mechanism. In other embodiments, the exterior suit may simply have a large opening, for example around the arm or neck, and elastic panels that allow the suit to be put on and taken off without a specific closure mechanism. The truncated load distribution member can simply expand to tighten the wearer's body. Openings can be provided to facilitate evacuation so that the user can continue to wear the outer suit, but to use the bathroom, only a relatively small portion needs to be removed or opened.

(Integration of electric machine)
The electromechanical integration mechanism attaches the components of the stabilizing layer, the power supply layer, the sensor and the control layer to the base layer for integration into the exterior suit. The integrated mechanism may be for mechanical, structural, comfort, protective or cosmetic purposes. The structural integration mechanism secures the components of the other layers to the base layer. For the stabilizing layer and the power layer, the structural integration mechanism can provide load transfer to the base layer and the load distribution member to accommodate specific degrees of freedom at attachment points. For example, snaps or rivets that secure the elements of the stabilizing or power layers can provide both load transfer to the base layer and pivotal degrees of freedom. Stitched, adhesive, or adhesive anchors can provide load transfer with or without pivotal degrees of freedom. For example, sliding anchors along sleeves or rails can provide translational degrees of freedom. The anchors can be separable, such as snaps, buckles, fasteners or hooks, or can be non-separable using stitching, adhesives, or other bonding. Sizing mechanisms such as those described above may be used to adjust and customize the stable and power layers, for example, to adjust the tension of springs or elastic elements in the passive layers or to adjust the length of actuators in the power layers. Can be enabled.

  Other integrated features such as loops, pockets, and mounting hardware can easily provide attachment to components that do not have large load transfer requirements, such as batteries, circuit boards, sensors, or cables. it can. In some cases, the component can be directly integrated into the textile component of the base layer. For example, the cable or connector can include conductive elements that are woven directly into the base layer, bonded, or otherwise integrated.

  The electromechanical integration mechanism can also protect or cosmetically hide the components of the stable layer, power supply layer or sensor and control layer. Elements of the stabilizing layer (eg elastic bands or springs), power layers (eg flexible linear actuators or twist string actuators) or sensor and control layers (eg cables) are sleeves, tubes integrated into the base layer. , Or can move through channels, which can hide and protect these components. The sleeve, tube, or channel may also allow operation of the component, for example, during activation of the power layer element. The sleeve, channel or tube may be provided with a collapse resistant part to ensure that the component is held freely and is not restrained internally.

  Enclosures, paddings, fabric covers or the like may be used to further integrate components of other layers into the base layer for the purpose of appearance, comfort or protection. For example, components such as motors, batteries, cables, or circuit boards can be housed within enclosures or completely or partially covered or surrounded by padded material, and the components can be worn. It should not be uncomfortable for the wearer and should be visually unobtrusive and integrated into the outer suit to protect it from the environment. The opening and closing mechanism may further allow access to these components for servicing, removal, or replacement.

  In some cases, especially in armor suits that are configurable for temporary use or inspection, the tether may allow some electronic and mechanical components to be stowed out of the armor suit. In one embodiment, electronics such as circuit boards and batteries may be oversized to allow for additional configurability or data capture. If it is not desirable to attach these components to the outer suit due to the large size of these components, these components may be placed separately from the outer suit and connected via physical or wireless tethers. be able to. Large, oversized power motors can be attached to the outer suit via a flexible drive linkage that allows actuation of the power layers without the need to attach the large motor to the suit. Such oversized power configurations allow optimization of armor suit parameters without the constraints that require all components to be attached or integrated into the armor suit.

  The electromechanical integration mechanism can also include wireless communication. For example, one or more power layer components can be located at different locations on the outer suit. Rather than utilizing a physical electrical connection to the sensor and control layer, the sensor and control layer may be a Bluetooth®, ZigBee, ultra wide band, or any other suitable wireless communication protocol such as It is possible to communicate with one or more power layer components via a wireless communication protocol. This can reduce the electrical interconnections required within the outer suit. Each of the one or more power layer components is independently powered so that each power layer component or group of power layer components does not require direct electrical interconnection to other areas of the exterior suit. As a unit, a local battery can additionally be incorporated.

(Stable layer)
The stabilizing layer provides passive mechanical stability and assistance to the wearer. The stabilizing layer includes one or more passive (non-powered) springs or elastic elements that generate force or store energy to provide stability or assistance to the wearer. The elastic element can have an undeformed minimum energy state. Deformation of the elastic element, e.g., stretching, stores energy and produces a force directed to return the elastic element to its minimum energy state. For example, elastic elements close to the hip flexors and hip extensors can provide stability to the wearer in the standing position. When the wearer deviates from the standing position, the elastic element deforms, generating a force that stabilizes the wearer and assists in maintaining the standing position. In another embodiment, as the wearer moves from a standing position to a sitting position, energy is stored in one or more elastic elements to provide a restoration to assist the wearer in moving from the sitting position to the standing position. Generate force. Similar passive elastic elements can be fitted to the torso or other limb region to provide positional stability or assistance in moving the elastic elements to a position in a minimum energy state.

  The elastic elements of the stabilizing layer may be integral with a part of the base layer or may be an integral part of the base layer. For example, an elastic fabric containing spandex or similar material can serve as the combined base / stabilization layer. The elastic element may also include separate components, such as springs or zones of elastic material, such as silicone or elastic webbing, fixed to the base layer for load transfer at discrete points, as described above. .

  The stabilizing layer is adapted to the wearer's size and individual anatomy, and to achieve the desired amount of pretension or sag in the components of the stabilizing layer at a particular location, It can be adjusted as described above. For example, some wearers may prefer more pretension to provide additional stability in the standing position, while other wearers may find that the passive layer does other activities such as walking. You may prefer more slack so as not to interfere.

  The stabilizing layer can interact with the power layer to engage, disengage, or adjust tension or slack in one or more elastic elements. In one embodiment, when the wearer is in an upright position, the power layer may pretension the elastic layer with one or more elastic elements to a desired amount to maintain stability in that position. it can. The pre-tension can be further adjusted by the power layer for different locations or activities. In some embodiments, the elastic elements of the stabilizing layer must be capable of producing at least 5 pounds of force, preferably at least 50 pounds of force when extended.

(Power layer)
The power supply layer can provide the wearer with active powered assistance as well as an electromechanical clutch to maintain the components of the power supply layer or stabilization layer in a desired position or tension. The power layer can include one or more flexible linear actuators (FLAs). FLAs are powered actuators that are capable of producing a tensile force between two attachment points over a given stroke length. The FLA is flexible so that it can follow contours around the body surface, for example, so that the forces at the attachment points are not necessarily aligned. In some embodiments, one or more FLAs can include one or more twist string actuators. In the following description, FLA refers to a flexible linear actuator that exerts a tensile force when actuated, contracts, or shortens. The FLA can be used with a mechanical clutch that requires the tension generated by the FLA to lock in place and the FLA motor to dissipate power to maintain the desired pull force. So that there is no An example of such a mechanical clutch is considered below. In some embodiments, the FLA comprises one or more twists, as described in more detail in US Pat. No. 9,266,233 entitled “Exosuit System”. It may include a string actuator or a flex drive, the contents of which are incorporated herein by reference. FLA can also be used in connection with the electrolaminated clutch described in US Pat. No. 9,266,233. Electro-laminated clutches (eg, clutches configured to generate controllable forces between clutch elements using electrostatic attraction) lock the pulling force without requiring the FLA to maintain the same force. By doing so, power savings can be provided.

  Powered actuators or FLAs are placed on the base layer connecting various points on the body to generate forces to support various activities. This arrangement can often approximate the wearer's muscles to naturally mimic and assist the wearer's own abilities. For example, one or more FLAs can connect the back of the torso to the back of the legs, thereby approximating the wearer's hip extensors. An actuator approximating the hip extensor muscle can assist activities such as standing from a sitting position, sitting from a standing position, walking, or lifting. Similarly, one or more actuators can be placed to approximate other muscle groups, such as hip flexors, extensor spinalis, abdominal muscles, or arm or leg muscles.

  One or more FLAs approximating a group of muscles can produce at least 10 pounds over a stroke length of at least 1/2 inch within 4 seconds. In some embodiments, one or more FLAs approximating a group of muscles can produce at least 250 pounds over a 6 inch stroke within 1/2 second. Multiple FLAs arranged in series or in parallel can be used to approximate a single group of muscles, the size, length, power, and strength of the FLA being determined by the group of muscles and their utilization. Optimized for your activities.

(Sensor and control layer)
The sensor and control layer obtains data from the outer suit and wearer and controls the power layer based on the activity being performed utilizing the sensor data and other commands, and the outer suit and control layer for control and information purposes. Provide wearer data to the UX / UI layer.

  Sensors such as encoders or potentiometers measure the length and rotation of the FLA, while force sensors measure the force exerted by the FLA. An inertial measurement unit (IMU) measures the kinetic data (position, velocity, and acceleration) of points on the exterior suit and the wearer and enables the calculation. These data enable the inverse dynamics calculation of the exterior suit and wearer dynamics information (force, torque). Electromyographic (EMG) sensors can detect wearer muscle activity in a particular muscle group. The electronic control system (ECS) of the exterior suit can use the parameters measured by the sensor layer to control the power layer. The data from the IMU can show both the activity being performed and both speed and intensity. For example, a pattern of IMU or EMG data may allow the ECS to detect that the wearer is walking at a particular pace. With this information, the ECS can then utilize the sensor data to control the power layer to provide the appropriate assistance to the wearer.

  The data from the sensor layer can be further provided to the UX / UI layer for feedback and information to the wearer, caregiver or service provider.

  The UX / UI layer includes interaction and experience with the wearer and other wearer's exterior suit systems. This layer includes control of the outer suit itself, such as initiation of activities, as well as feedback to the wearer and caregiver. The retail or service experience may include fitting, calibration, training and maintenance steps for the exterior suit system. Other UX / UI features may include additional lifestyle features such as electronic security, identity protection, and health monitoring.

  The auxiliary outer suit may have a user interface for the wearer to instruct the outer suit which activities should be performed and the timing of those activities. In one example, a user may manually instruct the exterior suit to enter an activity mode via one or more buttons, a keypad, or a tether device such as a cell phone. In yet another example, the user can verbally communicate the desired mode of activity to the outersuit, and the outersuit can interpret the verbal request and set the desired mode. The outer suit may be pre-programmed to perform an activity for a particular duration until another command is received from the wearer or the outer suit detects that the wearer has ceased activity. The outer suit may include a fail-safe feature that causes the outer suit to stop all activity when activated.

  The outer suit may have a UX / UI controller defined as a node on another user device such as a computer or mobile smart phone. The exterior suit can also be the base for other auxiliaries. For example, the armor suit may include a cell phone chip to directly receive both data and voice commands, similar to a cell phone, allowing information and voice signals to be communicated through such nodes. The exterior suit control architecture can be configured to allow other devices to be added as accessories to the exterior suit. For example, a video screen can be connected to the exterior suit to display images associated with the use of the exterior suit. The exterior suit can be used to interact with smart home devices such as door locks, or it can be used to turn on smart televisions and adjust channels and other settings. In these modes, the bodily aids of the outer suit may be used to augment or generate the wearer's physical or tactile experience associated with communicating with these devices. For example, emails can be tapped on the back in the form of physical emojis that cause the outer suit to physically tap the wearer when inserted into the email, or highlight the written email. Any other type of physical expression can be performed to the user.

  The outer suit can provide visual, audible, or tactile feedback or cues to inform the user of various outer suit movements. For example, the outer suit may include a vibration motor to provide tactile feedback. As a specific example, two haptic motors can be positioned near the anterior hipbone to inform the user of the activity of the outer suit when performing a standing up movement. In addition, two haptic motors can be positioned near the posterior hipbone to inform the user of the activity of the outersuit when performing a seating assistance exercise. The outer suit may include one or more light emitting diodes (LEDs) to provide visual feedback or cues. For example, the LEDs can be located near the left and / or right shoulders in the user's peripheral vision. The outer suit may include a speaker or buzzer to provide audio feedback or cues.

  In another example, the interaction of the FLA with the body through the body harness can be used as a form of tactile feedback to the wearer, where changes in the timing of FLA contraction identify the wearer. Information can be shown. For example, the number or strength of pulls on the FLA at the waist can indicate the battery level, or that the exterior suit is ready for imminent movement.

(Retail / Service / Studio environment)
The wearer's first interaction with the auxiliary outer suit is within the environment, such as a retail store, distributor, clinic, or professional service provider, where the outer suit system is specified or selected for the individual wearer. be able to. Alternatively, a sales representative or technician may visit the home or address the wearer in a suitable environment, such as a clinic, athletic facility, or community. The specifications or choices of exterior suits for an individual include choosing from one of several sizes of exterior suits or components, or custom sizes or for a particular wearer based on individual needs. It may include determining fit, as well as specific features, functions or other requirements of the system. For example, elderly but healthy wearers may need exterior suits to assist activities such as standing from a sitting position, maintaining posture while standing, and walking. While the wearer may be able to perform these activities without assistance, an auxiliary exterior suit system may allow the wearer to perform these activities for less fatigue and for a longer duration. it can. Other wearers may determine the size of the outer suit or component, the activities to be performed, the amount of assistance needed, the controls needed by the wearer, or data to be communicated to the wearer, caregiver, or others. And may have different requirements regarding the type of information.

  The studio may be equipped with features that facilitate fitting and testing of exterior suits to prospective wearers and support staff. For example, a studio may have a network that connects to the outersuit and shares information about the wearer in real time on the screen and in other useful applications to customize the outersuit experience for the customer, or otherwise. Can be promoted by The studio may have a screen display or other physical display such as light and sound that is linked to the movement of the exterior suit to help the wearer get used to the controls. Studios can also build "obstacle" courses or demo environments to test the use of exterior suits. The control of the exterior suit can be linked to the studio experience.

(Reflection control)
The control of the outer suit can also be linked to a sensor measuring the wearer's movement, or other sensor, such as a sensor on another person's outer suit, or a sensor in the environment. All motor commands described herein can be activated or modified by this sensor information. In this example, the outer suit may exhibit unique reflections such that the wearer cues the outer suit's motion profile through intentional or unintentional motion. For example, when sitting, a physical movement that leans forward and leans as if indicating an intention to stand up is sensed by the IMU of the outersuit and is used to trigger the outersuit to a standing motion profile. be able to. In one embodiment, the exterior suit may include a sensor capable of monitoring brain activity (eg, an electroencephalograph (EEG) sensor) to detect a user's desire to perform a particular movement. Can be used. For example, when the user is seated, the EEG sensor may sense the user's desire to stand up and prepare the exterior suit to assist the user in a standing up movement.

(User queue)
The outer suit makes a sound, for example, as a signal to inform the user that the outer suit has received a command, or to explain to the user that a particular motion profile is applicable, or, for example, the speed of the motor. Other feedback can be provided through such movements. In the above reflex control embodiments, the exterior suit may provide treble and / or vibration to the wearer to indicate that they are about to begin moving. This information can help the user to prepare for movement of the outer suit and improve performance and safety. Many types of cues can be implemented for all suit movements.

(Machine learning / AI)
Controlling exterior suits includes the use of machine learning techniques to measure athletic performance over multiple instances of one wearer or many wearers of exterior suits connected via the Internet. In that case, the calculation of the best control behavior for optimizing performance and improving safety for any one user is based on aggregated information for all or some of the wearers of the outer suit. Machine learning techniques can be used to provide user-specific customizations for exterior suit assistive movements. For example, a particular user may make an abnormal walk (eg, due to a car accident) and therefore cannot even step out. Machine learning can detect this abnormal gait and supplement the gait accordingly.

(Underwear type auxiliary exterior suit system)
1A-1F illustrate an undergarment auxiliary exterior suit (UAE) system according to some embodiments of the present disclosure. In some embodiments, the UAE system is intended to be worn under the wearer's clothing and focus on physical assistance for the central muscles of the body. This embodiment is also the base for extension to embodiments that provide physical assistance for shoulders, elbows, wrists, and hands, and other body parts including knee, ankle, and leg joints. The description below focuses only on the body core.

  FIG. 1A illustrates a front view of a UAE according to some embodiments of the present disclosure. The base layer, which extends from the shoulder to just above the knee, includes a compliant spandex panel (101) and a flexible, substantially inextensible load distribution member (102). The load distribution member (102) transfers the load from the stabilizing layer and the power layer to the wearer's shoulder, waist and thigh. In this embodiment, the load distribution member (102) comprises a plurality of curvilinearly arranged substantially inextensible materials. These curves generally approximate a suspension curve to evenly distribute the load from the stable and power layers. The load distribution member includes an inner surface that resists sliding along the wearer's body. The placement of the load distribution members causes the load distribution members to contract on the wearer's body when subjected to a load, further enhancing their grip and resistance to sliding along the wearer's body.

  A flexible linear actuator (FLA) (103) positioned on the front of the thigh approximates the hip flexor muscle. FLAs are powered actuators that can generate a pulling force between two attachment points over a given stroke length. The FLA is flexible so that it can follow contours around the body surface, for example, so that the forces at the attachment points are not necessarily aligned. The electronic components of the power supply, the sensor layer, and the control layer are housed in the hip joint enclosure (104). The enclosure (104) can be integrated with the base layer with pads, insulation and fabric components for comfort, aesthetics and component or wearer protection. For example, a refractory material or heat resistant material may be used around the electronic device or battery. Strapping (110) along the sides of the torso and thighs adjusts the overall size of the base layer.

  FIG. 1B shows a rear view of a UAE according to some embodiments of the present disclosure. Again, the shoulder, waist, and thigh load distribution members (102) similarly transfer the load to the base layer and the wearer's body. The four FLAs (105) are similar to the hip joint extensors, and the two FLAs are configured parallel to each other at the hip joint portion. Each pair of FLA (105) at each hip is connected to a respective tendon element (106) to attach the pair of FLA to the load distribution member (102) at the waist. Thus, the FLA (105) pair and tendon (106) combination is connected between the thigh and waist load distribution members (102) to provide an extension moment when the FLA is actuated (tightened). Occurs at the hip joint. The tendon element (105) in this example may include webbing with an adjustment element (108) so that the length of the tendon element is such that the stroke of the FLA (105) relative to the wearer's body is optimized. Can be adjusted. The two FLAs (107) are mounted parallel to the load distribution member (102) at the shoulder and waist, thus approximating the spinal extensors (eg, for postural support).

  FIG. 1C shows a side view of a UAE according to some embodiments of the present disclosure. In the side view, the load-spreading members approximating the hip flexor muscle (103), hip extensor muscle (105), and spinal extensor muscle (107) are all shown, and the hip extensor muscle FLA (105) has adjustable tendon elements. It is attached to (106). The power layer, sensor and control layer electronics are housed in an enclosure (104) integrated with the fabric base layer. An adjustable shoulder harness (109) is attached to the load distribution member (102) at the shoulders and waist. Strapping (110) along the sides of the torso and thighs adjusts the overall size of the base layer.

  FIG. 1D shows a front view of a UAE according to some embodiments of the present disclosure. In FIG. 1D, the power, sensor, and control layers have been removed to show the stable layer. The two elastic elements (111) of the stabilizing layer are attached to the load distribution member (102) at the waist and thigh, approximating the hip flexors. In this example, the elastic element (111) is a strip of silicone covered with spandex fabric. In some embodiments, the elastic element (111) can be made of any other suitable material. In another embodiment, the elastic elements of the stabilizing layer can be formed more integrally with the base layer.

  1E illustrates a rear view of a UAE, according to some embodiments of the present disclosure. In FIG. 1E, the power, sensor and control layers have been removed to show the stable layer. Another elastic element (112) of the stabilizing layer that approximates the hip or gluteus is attached to the load distribution member (102) at the waist and thigh. Another elastic element (113) of the stabilizing layer approximating the spinal extensors is attached to the load distribution member (102) at the waist and thigh. Similar to FIG. 1D, the elastic elements (112, 113) are made from fabric covered silicone, but in other embodiments the elastic elements can be more integrally formed with the base layer. In some embodiments, the elastic elements (112, 113) can be made of any other suitable material. The elastic element is typically configured such that movement from the first position to the second position causes the elastic element to stretch and generate a force that urges the wearer back to the first position. This can provide stability in the first position or can assist the wearer when moving from the second position to the first position. In one embodiment, the first position is the standing position and the second position is the sitting position. The elastic elements (111, 112, 113) of the stabilizing layer approximating the hip flexors, hip extensors, and spinal extensors are configured to have a small nominal preload in the upright position (first position). Small movements from the standing position can cause one or more elastic elements of the stabilizing layer to stretch and generate one or more forces that are biased to return to the first position. For example, anterior tilt can generate a force that stretches the elastic elements (112, 113) of the hip and spinal extensors to return them to a standing position. Conversely, rearward tilting can generate a force that stretches the elastic element (111) of the hip flexor muscles to move the torso forward and back to the standing position again. Thus, in these situations, the elastic elements of the stabilizing layer provide stability in the first standing position. Moving to the second sitting position allows the elastic elements (112, 113) of the hip and spinal extensors to be stretched. These stretched elastic elements (112, 113) can generate a force that is biased to return the wearer to the first standing position. The elastic element is maintained in a stretched state while the wearer is seated so that force is maintained and energy is stored in the elastic element while the wearer is in the second seated position. .. When the wearer desires to return to a standing position, the stored energy and the force generated by the elastic elements can assist the wearer.

  FIG. 1F shows a side view of a UAE, according to some embodiments of the present disclosure. In FIG. 1F, the power, sensor, and control layers have been removed to show the stable layer. Elastic elements (111, 112, 113) of the stabilizing layer that approximate the hip flexor muscle, hip extensor muscle, and spinal extensor muscle are attached to the load distribution member (102) at the thigh, waist, and shoulder.

  1G-1I show exemplary front, back, and side views, respectively, of a base layer in the absence of a stable or power layer. 1G-1I show thigh dispersal member 120, thigh dispersal member 130, and lower torso dispersal member 140 in detail. The thigh dispersal member 120, the thigh dispersal member 130, and the lower torso dispersal member 140 are the same as the disperser member 102 discussed above, but are re-noted for further study. The thigh dispersal member 130 can include stays 131 and 132 that extend along the length of the thigh, the stays 131 and 132 including a series of straps 133 and thighs that extend inside the thigh. It is attached to a series of straps 134 that extend outside the section. When a force (for example, an upward force in the direction of the hip joint) is applied to the stay 131 or 132, the load is transmitted through the straps 133 and 134. Additional straps, such as strap 135, may wrap around the thigh but are not tied to stays 131 and 122. The strap 135 may be coupled to other stays such as stays 138 and 139. Portions of straps 133,134 can be coupled to stays 138 and 139 in addition to stays 131 and 132. When a force (for example, an upward force in the direction of the hip joint) is applied to the stay 138 or 139, the load is transmitted through the straps 133, 134, 135. Fasteners 136 and 137 can be present on stays 131 and 132, respectively.

  The thigh dispersal member 120 can include stays 121, 122 extending along the length of the thigh, the stays 121, 122 including a series of straps 123 and thighs extending inside the thigh. It is attached to a series of straps 124 that extend outside the section. When a force (for example, an upward force in the direction of the hip joint) is applied to the stay 121 or 122, the load is transmitted through the straps 123 and 124. Additional straps, such as strap 125, may wrap around the thigh but are not tied to stays 121 and 122. The strap 125 can be coupled to other stays such as stays 128 and 129. Some of the straps 123, 124 can be coupled to stays 128 and 129 in addition to stays 121 and 122. When a force (for example, an upward force in the direction of the hip joint) is applied to the stay 128 or 129, the load is transmitted through the straps 123 and 124. Fasteners 126 and 127 may be present on stays 121 and 122, respectively.

  The lower torso dispersal member 140 may be distributed around a portion of the wearer's waist, back, and hips. The dispersion member 140 may include stays 141 to 145. A strap 146 can be coupled to the stays 141 and 142. The stays 141, 142 can include a plurality of slots 158 that can be used to secure the FLA 103 in place. The inclusion of multiple slots allows the wearer to position the ends of the FLA 103 in the best fit position. The stay 145 can also include a plurality of slots 157 that can be used to secure the FLA 107 in place. A strap 147 can be coupled to the stays 142 and 143, and a strap 148 can be coupled to the stays 144 and 141. A strap 149 can be coupled to the stays 143 and 145, and a strap 150 can be coupled to the stays 145 and 144. When a force is applied to one or more of the stays 141 to 145, the load is dispersed through the lower body dispersal member 140. The stays 141 and 142 may include fasteners 152 and 153. The stays 143, 144 may include adjustment elements 108 and fasteners (not explicitly shown because they are hidden by the adjustment elements 108). The stay 145 can include a fastener 156.

  One of the elastic elements 111 can be connected to the fasteners 126, 152 and the other of the elastic elements 111 can be connected to the fasteners 136, 153. Inclusion of multiple fasteners in each stay can provide flexibility and fitting for the wearer of the exterior suit. The elastic elements 112 can be connected to fasteners on each of the thigh dispersal member 120, the thigh dispersal member 130, and the lower torso dispersal member 140. The elastic elements 113 can be connected to fasteners on the lower fuselage dispersal member 140 and the yoke dispersal member 160 (shown in the lower side of FIG. 1K).

  FIG. 1J illustrates an exemplary chassis strap system 170 configured to be worn around the wearer's lower torso region and on top of the load distribution member 140. Chassis strap system 170 may include electronics 104, tendon element 106, FLA 103, 105, 107. After the chassis strap system 170 is worn by the wearer, the FLA 103, 105 can be attached to the thigh dispersal member 120, 130. One of the FLA 103 can be attached to the stays 121, 141 and the other of the FLA 103 can be attached to the stays 131, 142. In this way, the FLA 103 is attached to two different load distribution members (eg, distribution member 140/120 and distribution member 140/130). When the FLA 103 is activated, the pulling force pulls both the thigh and the torso to assist the movement of the hip flexor muscle. For example, when the left thigh FLA 103 is activated, the pulling force pulls the stays 131 and 143 and pulls the thigh in the movement of the hip flexor muscle. The force applied to the stays 131 and 143 is dispersed over the entire dispersion members 130 and 140.

  FLA 105 can be attached to stays 128, 129, 138, and 139 and tendon element 106. The tendon element 106 can be connected to the adjustment element 108. By attaching one end of the FLA 105 to the tendon element 106, the FLA 105 can be fixed to the body dispersion member 140. The positioning of the tendon element 106 can be adjusted via the adjustment element 108 to provide the best fit for the wearer. Therefore, the left thigh FLA 105 is attached to the stays 138 and 139, and attached to the torso dispersion member 140 via the tendon element 106. When the FLA 105 is activated, the FLA 105 applies a hip joint extensor assisting motion between the torso dispersion member 140 and the thigh dispersion members 120 and 130. When the left thigh FLA 105 is activated, the tensile force generated by these FLAs is dispersed through the body distribution member 140 and the thigh distribution member 130. When the right thigh FLA 105 is activated, the tensile force generated by these FLAs is dispersed through the body distribution member 140 and the thigh distribution member 120.

  FIG. 1K shows a yoke dispersion member 160 disposed around the upper torso portion of the user. An adjustable shoulder harness 109 is attached to the yoke dispersion member 160 and the thigh dispersion member 140. Strapping 110 along the sides of the torso allows the shoulder harness 109 to be adjusted to fit the wearer. The yoke dispersion member 160 may include stays 161-163. The stays 161 and 162 can be connected to the FLA 107. The stay 163 may include a fastener 165. Fasteners 165, 156 (FIG. 1H) can be used to secure elastic member 113 (shown in FIG. 1E).

  The yoke member 160 can include a strap 166 that extends along the wearer's back. Although any number of straps 166 may be used, the embodiment shown in FIG. 1K has four such straps. Each of the straps 166 can be coupled to a shoulder harness connecting strap 167 that is connected to the shoulder harness 109. The shoulder harness connecting strap 167 can pivot or move relative to the strap 166 to accommodate different size users.

  The FLA 107 can be coupled to the stays 162 and 162 of the yoke dispersion member 160 and the stay 145 of the body dispersion member 140. Upon activation of FLA 107, FLA 107 provides postural support or spinal extension to the outer suit. Specifically, when the FLA 107 applies a tensile force to the force, the FLA 107 pulls down the yoke dispersion member 160 and pulls up the body dispersion member 140. Therefore, the load caused by the tension applied by the FLA 107 is distributed over the yoke dispersion member 160 and the body dispersion member 140.

(Outerwear type (from above clothes) auxiliary exterior suit system)
2A-2E illustrate an overcoat auxiliary exterior suit (OAE) system intended to be worn on a wearer's clothing, according to some embodiments of the present disclosure.

  FIG. 2A shows a front view of an OAE, according to some embodiments of the present disclosure. A shoulder harness (201) with a cross strap (202) is attached to the upper body of the wearer. Tension lock fittings (203) allow adjustment of size and tightness of shoulder harness and cross straps. The load distribution members (204, 205) surround the wearer's waist and thighs, respectively. The FLA (206) configured as a hip flexor is attached at the waist and thigh. The FLA may include a rounded curvilinear contoured housing (207) around the motor, transmission and spindle assembly for component protection and wearer comfort. The FLA twist string is housed within a blade tube (208) that protects the string from wear, entanglement, or cleaving. The FLA may also be enclosed within the fabric or other element of the OAE for cosmetic integration, protection and comfort (209). The elastic elements (210) are configured in parallel with the FLA so that they mimic hip flexors. The webbing (211) connects the elastic element (210) to the adjustment fitting (212), which fitting is fixed to the load distribution member (205) at the thigh. The webbing (211) functions as a tendon for the FLA (206) to transmit a force to the leg load distribution member (205), and also as a means for shortening and extending according to changes in the height of the wearer. This allows the full thigh area to be used while still maintaining the stroke length of the FLA, as well as allowing the FLA or power transmission to fit the contours of the wearer's body without pinching or breaking. To do. The IMU is attached to the front of each thigh (214) to allow the sensor and control layers to detect leg movements.

  2B illustrates a rear view of an OAE, according to some embodiments of the present disclosure. Electronic components (215) including batteries, circuit boards and cables are mounted in the backpack-type area on the upper back. The electronics are typically covered with an enclosure or fabric cover (216) for protection and aesthetic purposes. Two FLAs (217) configured in parallel traverse the lumbar spine and mimic the extensor spinal muscles. Four FLA's (218) configured in parallel are attached between the load distribution members at the waist and each thigh to mimic hip extensor or gluteus. The fabric cover (219) hides the FLA for protection and aesthetic purposes. The cover (219) can be pleated, reticulated, or flexible to accommodate changes in FLA length. The elastic element (220) of the stabilizing layer is arranged in parallel with the FLA. The elastic elements (220) and FLA (218) are attached to the load distribution member via adjustable interconnects (221) that can be adjusted in size or tension to the individual wearer, and webbing as described above. The tendons (211) provide a range of coordination as well as fit to the wearer's body.

  2C illustrates a side view of an OAE, according to some embodiments of the present disclosure. One or more sidebands (222) (five in this example) are connected between the front and rear of the body portion of the OAE. One or more sidebands are adjustable to suit the size of the wearer. When the sidebands are tightened, the wearer's torso is gripped and the load is distributed over the outer suit, effectively functioning as a load distribution member. An easily accessible emergency stop switch (223) is located on the wearer's chest.

  FIG. 2D shows a detailed rear view of components of an OAE, according to some embodiments of the present disclosure. The waist load distribution member (225) comprises a section of webbing arranged in a biaxial braid with rivets (233) at the intersection. This arrangement allows the load distribution member to conform to the wearer's waist and to clamp and grasp the wearer's core when a load is applied to the attachment point (232). Two groups of four FLAs (224) are placed in parallel and attached to the load distribution member at the waist (225). Each group of FLAs is attached to the webbing tendon (227) at the opposite end, which transfers the FLA's force to the load distribution members on the thigh (228). Within each group of four FLAs (224), a pair of drives is tethered with brackets (229) mounted on stays (230), where the stays (230) are sleeves on the base layer load distribution members. It is inserted in (231). The stays transfer compressive loads between the FLA and the load distribution member, allowing optimal independent placement and orientation of the FLA and load distribution member. In this embodiment, the distance between the mounting points of the load distribution member (LFG) is much shorter than the optimum free length (LFD) of the FLA due to the optimum situation of the load distribution member at the waist and thigh. Becomes The stay (230) allows the use of a FLA having an optimum length (LFD) and transfers the force of the FLA to the optimum attachment point (232) of the load distribution member.

  FIG. 2E illustrates a waist or posture bolster implemented in an OAE, according to some embodiments of the present disclosure. The bolster comprises a semi-rigid panel (234) that follows the contours of the lower back. Upon activation of extensor spinal FLA (235), the FLA contracts from a first length (L1) to a shorter length (L2) and shortens. The short length (L2) increases the curvature (arrow) of the bolster panel (234) resulting in increased hip and postural support. The bolster is seated in a pocket in the base layer and the tongue-like feature that distributes the bolster laterally acts on the entire load distribution member along the spine and trunk.

  2F-2I illustrate another outerwear auxiliary exterior suit (OAE) system intended to be worn on a wearer's clothing, according to some embodiments of the present disclosure. FIG. 2F shows an exemplary front view of exterior suit 240. FIG. 2G shows a rear view of the partially assembled armor suit 240. FIG. 2H shows a rear view of the assembled outersuit 240 without the cover. FIG. 2I shows a side view of the assembled outersuit 240 with the cover present. 2J shows a torso support system 280. For each of FIGS. 2F-2J, consider generally.

  Outer suit 240 may include thigh load sharing members 242 and 244 and a torso support system 250. The thigh load distribution members 242 and 244 are configured to fit around the thighs of the user wearing the exterior suit 240, each thigh load distribution member having an end of the hip flexors FLA 246 and 247. Includes mounting elements 243 and 245 to secure the parts in place. The other ends of hip flexors FLA 246 and 247 may be attached to hip flexor fixation systems 251 and 252 of torso support system 250, respectively. Femoral load distribution members 242 and 244 can include attachment elements 248 and 249 that can be secured to extensor fixation systems 255 and 256. The extensor fixation system 255 and 256 can include straps 257 and 258 coupled to the attachment elements 248 and 249. The straps 257 and 258 can be adjusted to best fit the user. The extensor fixation systems 255 and 256 may also include fixation elements 259 and 260 for fixing the ends of the hip extensor muscles FLA 261-268 in place.

  The torso support system 250 includes scissor load distribution members 270, spinal hubs 271, adjustable straps 272, belly bands 273 and 274, FLA stays 275, support structures 280, waist pockets 281, shoulder straps 283, shoulder adjustment elements 284, chest. An adjustment strap 285 and a chest depth strap system 286 can be included. The scissor load distribution member 270 is coupled to the belly bands 273 and 274 via the adjustable strap 272. Belly bands 273 and 274 can be attached together, for example via a zipper or other coupling device. The belly bands 273 and 274 concentrate the load below the user's natural waist and apply pressure above the natural waist (eg, 1-4 inches or 2 inches above) in a triple zone (or tri-layer construction). ) Stepwise pressure packet. The triple zone construction of the belly bands 273 and 274 can provide comfortable lateral abdominal pressure to the user. The upper portion of the belly bands 273 and 274 may be constructed of a relatively soft elastic material. The middle portion of the belly bands 273 and 274 can be constructed of a material having a first elastic stiffness that is greater than the stiffness of the first portion. The lower portions of the belly bands 273 and 274 can be constructed of a material having a second elastic stiffness that is greater than the first elastic stiffness. Thus, varying the stiffness of each portion of the belly bands 273 and 274 provides a step change in stiffness, but is less rigid so that none of the bands 273 and 274 stretch.

  The scissor load distribution member 270, in combination with the strap 272 and the abdominal bands 273 and 274, operates to distribute the forces around the user's body when the hip flexors FLA 261-268 are in tension. One end of FLA 261-268 (eg, a motor, etc.) can be coupled to stay 275, and the other end of FLA 261-268 is coupled to extensor fixation system 255 and 256. The scissor load distribution member 270 is a series of pivot joints that bends, bends, and / or scissors (around the pivot) in response to user movement or activation of the FLAs 261-268. Composed. The stay 275 can be positioned on the member 270 to apply a load to the load distribution member 270 near the hip joint of the user.

  The spinal hub 271 can be coupled to the load distribution member 270 and can be coupled to the waist pocket 281 via attachment points 282. The spinal hub 271 can be referred to as a lumbar Dreidel because it has an upper cross-section. The spinal hub 271, including all components, operates to support the weight of the torso support system 250. This is done by the spinal hub 271 exerting the force of the FLA and the weight of the system 250 on the load distribution member 270. The spinal hub 271 can be a rigid structure that can provide lumbar support to the user. When the spinal hub 271 is drawn to the load distribution member 270, the rigidity of the structure may allow the user to maintain the curve while exerting pressure above and below the user's lumbar curve.

  The waist pocket 281 can be a relatively rigid material that distributes the load of the waist FLA to the spinal hub 271 and the scissor load distribution member 270. In addition, the waist pocket 281 can be attached to the structure 280, which allows the structure 280 to move back and forth (in the same direction as the user moves his back back and forth with respect to the hip). it can. The waist pocket 281 can be coupled to the chest depth strap system 286 via attachment points 287. The FLA (shown in FIG. 2H) is coupled to the waist pocket 281 and can be coupled to either the spinal hub 271 or the scissor load distribution member 270. These FLAs can provide spinal extensor assisted exercise.

  The chest strap system 286 can exhibit a V-shape that allows the structure 280 to remain close to the user's back when the user is moving around, particularly when bending forward. The chest depth strap system 286 can include a shoulder strap 283 and a strap 288 coupled to the scissor load distribution member 270. The strap 288 passes through the rings 289a, 289b, and 289c. The combination of rings 289a, 289b and 289c, strap 288 and shoulder strap 283 allows structure 280 to move in cooperation with the user's back.

  The Flexor load strap 253 can be between the hip flexor fixation systems 251 and 252. The Flexor load strap 253 can have a buckle to facilitate removal. A strap 290 is attached to the hip flexor fixation system 252 and the scissor load distribution member 270 (or spinal hub 271). The combination of straps 253 and 290 and system 252 allow the forces generated by flexor FLA 247 to be laterally distributed to load distribution member 270 and thigh load distribution member 244. Straps similar to strap 290 may be attached to hip flexor fixation system 251 and scissor load distribution member 270 (or spinal hub 271).

  FIG. 3 illustrates a retail or service environment for an exterior suit system, according to some embodiments of the present disclosure. In some embodiments, the retail and service environment can also be described as a studio. The touch screen display (301) provides an interactive environment for the wearer to start configuring the outer suit, such as whether the purpose of the outer suit is health / wellness, sports / activity, or other habit / lifestyle goals. To do. The display (302) has a plurality of outersuits and outersuit components. These can be "in stock" armor suits and armor suit components to make armor suits that are suitable for the wearer and are suitable for various anthropometric, biomechanical or kinematic individual wearers. Various shapes or sizes may be included to achieve this. The exterior suit made up of these components may be a temporary exterior suit used to optimize a wearer-specific exterior suit, or may present a final exterior suit. It is illustrated that a representative, salesperson, or technician interacts with the wearer (302) to configure and optimize the exterior suit and further train the wearer in their movements. Each layer of the outersuit may incorporate some flexibility (customization and optimization). The base layer may be adapted to the wearer's size, comfort requirements, and the particular conditions of the desired application, such as whether it is worn over or under the wearer's clothing. The stabilizing layer can adapt to an appropriate amount of stability provided to various parts of the body based on the physical characteristics of the wearer and expected sliding. Similarly, the power layer can be adapted to provide the amount of assistance required for different parts of the body in different activities. The length, velocity, and strength of the FLA powered actuator can be selected or adjusted to optimize these parameters. The wearer can perform a particular set of activities to allow the sensor and control layers to self-calibrate and adapt to the wearer's movement pattern.

  FIG. 4 schematically illustrates a process for adapting an auxiliary exterior suit to a wearer, according to some embodiments of the present disclosure. In some embodiments, the process may be modified by, for example, combining, splitting, rearranging, changing, adding, and / or deleting steps. This process can be integrated with the retail and service experience described above. First, input from the wearer or an assistant (e.g., an attendant, caregiver, or other person who assists the wearer in obtaining the outersuit) is the primary use for which the outersuit is intended to assist and An activity is selected (401). The wearer is then evaluated for size, strength and speed of the powered actuator / FLA, sensor and control layer requirements, exterior suit components and parameter settings such as user interface (402). It may also include wearer identification information based on overall proportions from groups of body types. The exterior suit is then constructed and optimized for the wearer (403). The wearer may then be instructed to wear (wear) a configured exterior suit, which may be either a temporary exterior suit or a final exterior suit available to the wearer (404). . The wearer is then trained in the initial movement of the outer suit (405), instructed to perform standardization activities to optimize and calibrate the sensor and control layers (406), and that the configuration is appropriate. It can be confirmed (407). If the provisional exterior suit is first used, the final exterior suit can be prepared (408). The wearer, and if appropriate the caregiver or attendant, can be trained for advanced exterior suit functionality (409). The wearer may be instructed to return to the retail or service center on a regular or as needed basis for recalibration, optimization or maintenance of the outer suit, which may be onsite or remote to the outer suit. The connection may be virtually implemented (410). In addition, a remote connection to the exterior suit may allow the service center to monitor the status of the exterior suit, remotely upgrade the software, or notify the wearer when service is needed. it can. In one embodiment, the processes described above may be performed by one or more computer systems or databases. In another embodiment, the process described above provides training by a manufacturer, distributor, franchise merchant, or licensee, an additional system, a system with equipment, or a computerized system, or a combination of other services. It can be executed by doing.

  FIG. 5 illustrates an exemplary armor suit system platform incorporating a communication network, according to some embodiments of the present disclosure. As shown, the wearer (501) wearing the auxiliary exterior suit is ubiquitous in the community or dwelling (502). A wireless communication link (503) is established between the armor suit and a network such as a cellular network or a home wireless internet connection (504). The network connection allows connection to personal electronic devices such as tablets or smartphones (505) or PCs (506). These allow the wearer, attendant, or caregiver to adjust the configuration of the outersuit (especially sensor and control layers) and monitor data related to activity levels, wearer health, etc. be able to. The network connection also allows monitoring and control by one or more remote centers (507), such as a clinic or service center.

  Exterior suit systems can include other communication systems such as Bluetooth® or Radio Frequency Identification (RFID) that allow communication with devices or systems in close proximity to the outer suit or wearer. These features may enable ancillary or lifestyle convenience features such as digital identification of the wearer. In one embodiment, the exterior suit system can confirm the individual wearer's identity by detecting the wearer's unique characteristics through a sensor and control layer. Personal characteristics may include movement patterns such as gait or gait, body size or body measurements, forces sensed by an outer suit, and the like. The exterior suit system, in turn, is the wearer's identity to other systems such as home appliances, internet and computer logins, financial equipment (ATM, retail payment systems, etc.), door locks, car locks and ignition systems, and others. Can be matched. Communication links such as Bluetooth® may allow direct communication with electronic devices such as smartphones, tablets, and PCs without a connection through the wider Internet. These connections can be used for functions as described above.

  Pre-programmed activity or motion profiles enable the sensor and control layers to activate the components of the power layer for specific activities. Activity / motion profiles are generally pre-programmed, but can also be calibrated or adapted to individual users, as explained above. In the examples below, actuators are typically identified by a corresponding muscle group (eg, hip flexor, hip extensor, or spinal extensor). Continuing muscle analogy, FLA activation corresponds to the transition to the contracted state and deactivation corresponds to the transition to the extended state. The motion profiles discussed below with respect to FIGS. Can be implemented in an exterior suit that includes a plurality of FLA's that are coupled and actuated to apply a force between the load distribution members to provide assistance.

  FIG. 6A illustrates a standing activity / motion profile according to some embodiments of the present disclosure. The operation and actuation of FLA or powered actuators in the power layer are illustrated in schematic format (600A), tabular (600B) format, and graph (600C) format. In one embodiment, the hip flexor muscles are actuated to tilt the wearer's torso forward and are held in this position for a short time. This forward tilt causes the wearer to cue that the standing motion is about to begin and moves the wearer's center of gravity forward over both feet. This is called the forward lean (613) phase because the torso is leaning forward, and is also called the momentum shift phase (614) because the wearer's weight is shifting from the seat to the legs. Next, in the extension and lift phase (615), when the hip flexor muscle (603) is deactivated (606), the hip flexor muscle (601) and the spinal extensor muscle are activated (607, 610) and rise to a standing position. Sometimes assists the wearer. In the standing phase (617), the hip extensor muscles (601) and the spinal extensor muscles (616) are kept operative (608, 611) while the wearer is in a balanced standing position. . The hip extensors (601) and spinal extensors (616) are then deactivated (609,612), allowing them to move freely in a standing position. In this example, the muscle component (602) is shown in series with the hip extensor muscle (601). The tendon component (602) transfers tensile loads, allows the FLA to operate over a longer span than the FLA, and allows optimal placement of the FLA for comfort and functionality. .

  FIG. 6B illustrates a sitting motion / activity profile according to some embodiments of the present disclosure. During the initial contraction and stabilization phase (618), the spinal extensor muscle (616), hip extensor muscle (601), and hip flexor muscle (603) are all activated (621, 622, 623) to the wearer prior to initial exercise. It provides stability and cues the wearer that exercise is about to begin. After a brief hold for stability (624), in the controlled descent phase (619), the hip extensors are deactivated (625), but additional activation of the hip extensors (626) is applied. Assist the wearer in lowering and transitioning to the sitting position. In this way, the exterior suit supports similar myocardial activity. In the final phase (620), the spinal extensors and hip flexors are deactivated (627), allowing the wearer to relax in a sitting position.

  FIG. 6C illustrates a profile or mode for posture and stability support, according to some embodiments of the present disclosure. Posture support (628) in the standing and seated positions typically involves actuation (631) of the spinal extensor muscles (616). Extensor activation of the spinal extensors usually reduces chest kyphosis (anterior flexion) or increases lumbar lordosis (anterior flexion), causing the head to move posteriorly and the upper body to be more balanced with respect to the hip. It takes a relaxed posture. Assistance in maintaining this posture reduces fatigue and improves comfort in both standing and sitting positions. When postural support is no longer needed, or if another action or activity is to occur, the extensor spinal muscles can be deactivated (632).

  In the passive standing hip stability mode (629), elastic supports (633), similar to hip flexors and hip extensors, maintain passive stability of the hip. The elastic support (633) is usually a component of the stable layer. The elastic support (633) can be manually engaged or adjusted by tensioning the straps or by simply uncoupling or uncoupling the support from anchors on the outer suit, such as snaps or other fasteners. it can. As further described below in FIG. 6E, the elastic support can be engaged, disengaged, and adjusted using a powered actuator and clutch combination. Similarly, the active supports described herein can be used in combination with elastic supports and clutch mechanisms.

  Active hip stability in the standing position can be provided by simultaneous actuation (634) of the hip flexors (603) and hip extensors (601). This is similar to the simultaneous isocontraction of the flexor and extensor muscles of the hip to stabilize the joint in the standing position. When active hip stability is no longer required, hip flexors and extensors are deactivated at the same time (635). Various modes or amounts of hip stability support can be provided, such as high, medium, low amount or support, or variable support depending on the wearer's instantaneous demands. The amount of support can be dictated by the wearer's characteristics such as height, weight, age and strength, or can be actively controlled by sensors and control layers. For example, data from one or more inertial measurement units (IMUs) can indicate the level of active stability required to assist the wearer.

  FIG. 6D illustrates a profile or mode for gait assistance, according to some embodiments of the present disclosure. In walking assistance, the hip flexor muscles (603) and hip extensor muscles (601) operate in conjunction with periodically assisting the forward and backward movement of the legs during a walking cycle (walking). Single leg FLA actuation during gait assistance is shown graphically (643). The leg swings forward by activating hip flexor muscles (637) and deactivating hip extensor muscles (638) during a single gait cycle (636) starting from mid-leg position (644). To be done. Usually starting from heel contact, the hip extensors are then activated (640) while the hip flexors are deactivated (639) and the legs are moved backwards through the stance phase (646). Then, normally at the foot clearance (647), while the hip extensors are not activated (642), the hip flexors are activated again (641) to return the leg to the mid-leg position, where the cycle Is repeated. The opposite leg is actuated in the same manner, but in the opposite phase, i.e. one leg can actuate the hip flexor during the rocking phase and the other leg is actuated during the stance phase. Activate muscles.

  The walking cycle can be initiated and controlled manually by the wearer via the user interface controller, or it can be initiated and controlled automatically by sensors and control layers. For example, a sensor such as the IMU can detect that the wearer is walking, and the control algorithm determines the appropriate assistance provided during the walking cycle and the FLA operates accordingly. .

  FIG. 6E illustrates one embodiment of a process for performing stand-up assistance. One or more inertial measurement units (IMUs) sense the wearer leaning forward (648). The controller or central processing unit (CPU) interprets the forward lean as the wearer is initiating a standing movement (649). Alternatively, the wearer can indicate to the exterior suit system via the user interface that he is about to perform a standing motion. The controller or CPU then actuates the outer suit to assist the standing motion (650), typically by actuating one or more FLA or clutch elements according to the motion profile as described above.

  In one embodiment, the stand-up assistance operation can be performed as follows. The FLA (hip flexor muscle FLA), which is responsible for the auxiliary motion of the hip flexor muscle, is activated, and the forward leaning motion of the body of the body can be started. The hip flexor FLA increases tension until the force of the hip flexor reaches the hip flexor retention threshold. Hip flexor forces may be maintained at a hip flexor retention threshold for a first period of time. The FLA (hip extensor muscle FLA) responsible for the assisted movements of the hip extensor muscles can be activated before the end of the first time period to initiate the body lifting movement. The hip extensor muscle FLA increases tension until the force of the hip extensor muscle reaches the hip extensor muscle retention threshold. The FLA (extensor spinalis FLA), which is responsible for the assisting motion of the spinal extensor muscle, is activated to assist the lifting motion of the body. The spinal extensor FLA increases tension until the force of the spinal extensor muscle reaches the spinal extensor retention threshold. The hip flexor FLA is deactivated at the end of the first time period and the hip flexor FLA may reduce tension to further assist the body lifting action. Deactivation of the hip flexor FLA reduces the force of the hip flexor muscle with respect to the increase of the hip flexor force and the spinal extensor force. When the sensor detects that the body is standing, the hip extensor muscle FLA can be deactivated and the spinal extensor muscle FLA can be deactivated.

  FIG. 6F illustrates one embodiment of a process for performing walking assistance. The one or more IMUs sense the wearer's forward motion or leg movements. The controller or CPU interprets the forward movement or leg movements as if the wearer has begun a walking cycle, ie, is beginning to walk (652). Alternatively, the wearer can indicate to the exterior suit system via the user interface that he is beginning to walk. The controller or CPU then activates the exterior suit to assist in walking or walking assistance (653), typically by activating one or more FLA or clutch elements according to the motion profile as described above.

  In one embodiment, the walking assistance motion can be performed as follows. In the first leg, the FLA (second leg flexor FLA) responsible for assisting the hip flexor related to the first leg and the FLA responsible for assisting hip extensor related to the first leg (first The leg hip extensor muscle FLA) can be activated and deactivated alternately. In the second leg, the FLA (second leg hip flexor FLA) that is responsible for assisting the hip flexor related to the second leg and the FLA (second leg that is responsible for assisting the extensor of the hip related to the second leg). The leg hip extensor muscle FLA) can be activated and deactivated alternately. The activation and deactivation of the second leg flexor muscle FLA and the second leg hip extensor muscle FLA are in phase with the activation and deactivation of the first leg flexor muscle FLA and the first leg hip extensor muscle FLA. It is out of alignment. The first leg flexor FLA can be activated simultaneously with the activation of the second leg hip flexor FLA, and the second leg flexor FLA deactivates the second leg hip extensor FLA. You can activate them at the same time. Regarding the first leg, when the first leg extensor muscle FLA exerts the maximum extensor strength, the first leg flexor muscle FLA may not exert a force, and the first leg flexor muscle FLA exerts the maximum flexor strength. When this is done, the first leg extensor muscle FLA may not exert a force.

  FIG. 6G illustrates one embodiment of a process for performing standing posture support assistance. One or more IMUs sense the wearer standing relatively stationary (654). The controller or CPU interprets from the IMU data that the wearer is standing relatively still and should provide posture support (655). Alternatively, the wearer can indicate to the exterior suit system via the user interface that the wearer stands still and desires posture support. The controller or CPU then actuates the exterior suit to assist posture support (656), typically by actuating one or more FLA or clutch elements according to the motion profile as described above.

  In one embodiment, the seating assistance motion can be implemented as follows. The FLA (extensor spinalis FLA), which is responsible for the assisted movements of the spinal extensors, can be activated to increase lumbar lordosis. The extensor spinalis FLA can increase tension until the force of the extensor spine reaches the extensor spine retention threshold. The extensor spinalis FLA can be deactivated in response to a determination that postural stability is not required. Postural stability can be further enhanced by performing hip stability, which includes FLA (hip flexor FLA), which assists the hip flexor muscles, and FLA (hip extensor), which assists the hip extensor muscles. It may include simultaneously activating the muscle FLA). The hip flexor FLA can increase the tension until the force of the hip flexor reaches the hip flexor retention threshold, and the hip extensor FLA causes the hip extensor force to reach a first hip extensor retention threshold. Increase the tension until. The hip flexor retention threshold can be defined according to a hip stability mode including at least two different amounts of support, and the hip extensor retention is defined according to a hip stability mode. The hip flexor retention threshold and hip extensor retention may be based on the input received from the sensor.

  FIG. 6H illustrates one embodiment of a process for performing sitting assistance. One or more IMUs sense motion of the wearer (657). The controller or CPU interprets the action as the wearer starting a sitting motion (658). Alternatively, the wearer can indicate to the exterior suit system via the user interface that he is beginning to walk. The controller or CPU then actuates the outer suit to perform seating assistance (659), typically by actuating one or more FLA or clutch elements according to the motion profile as described above.

  In one embodiment, the seating assistance motion can be implemented as follows. FLA (hip flexor muscle FLA) that assists hip flexor muscles, FLA (hip hip extensor muscle FLA) that assists hip extensor muscles, and FLA (extensor spine FLA) that assists spinal extensor muscles simultaneously Can be activated. The hip flexor FLA increases the tension until the force of the hip flexor reaches the hip flexor retention force threshold, and the hip extensor FLA tensions until the force of the hip extensor reaches the first hip extensor retention threshold. And the spinal extensor FLA can increase tension until the force of the extensor spinal cord reaches the spinal extensor retention threshold. The hip flexor force can be maintained at a first hip flexor retention threshold. The force of the hip extensor muscles can be maintained at the hip extensor muscle retention threshold. At the end of the first time period and for a controlled and appropriate duration, the hip flexor force can be reduced by deactivating the hip flexor FLA and the spinal extensor force can be reduced. The force threshold can be maintained and the hip extensor force can be increased to a second hip extensor retention threshold by further activation of the hip extensor FLA. For a controlled and appropriate duration, the reduction in hip flexor force and the increase in hip extensor force are proportional to the speed at which the body approaches the sitting position. If the sensor detects that the user is sitting, the hip extensor FLA and extensor spine FLA can be deactivated.

  FIG. 6I illustrates a stand-up activity / action timing chart according to some embodiments of the present disclosure. FIG. 6I illustrates a stand-up assisting exercise using only the hip extensors and the spinal extensors without the hip flexors. At time t1, the exterior suit may receive an indication that a standing up movement has been requested. After receiving the request, the exterior suit can pre-twist hip extensor muscle 670 and spinal extensor muscle 680 to provide an initial tension for extensor muscles 670 and 680. The pre-twisting motion can tighten any slack that may be present in the twist string associated with the FLA that performs hip and spinal extensor movements. In this way, the FLA provides immediate support as the user manipulates his or her muscles, without having to "catch up" with the user. At time t2, the hip joint and the spinal extensor muscles can be held by the first hip joint extensor muscle holding portion 671 and the first spinal extensor muscle holding portion 681, respectively. At time t3, the hip extensor muscle FLA can be further activated to increase tension from time t3 to time t5 as shown in area 672. At time t4, the hip extensor muscle FLA can maintain the tension in the second hip joint extensor holding portion 673. Beginning at time t4, the extensor spinalis FLA can increase tension from time t4 to time t6 as shown in area 682. At time t5, the spinal extensor muscle FLA can maintain the tension in the second spinal extensor muscle holding portion 683. The hip extensors and spinal extensors are deactivated at times t8 and t7, respectively, allowing them to move freely in the standing position.

  FIG. 7 illustrates one example of a subsystem (700) and motion profile of an auxiliary exterior suit system incorporating FLA (FD), clutch (C) and spring (S). In this example, the FLA (FD) and the clutch (C) are arranged side by side and attached to the anchor on the outer suit at the first end (701) and 1 at the second end (702). Alternatively, it is attached to two or more springs (S). The opposite end (703) of the one or more springs is attached to the one or more anchors in a second position on the exterior suit. Initially (794), FLA (FD) is in a deactivated state, clutch (C) is disengaged, spring (S) is in a relaxed state, producing a slight force, or a force. Absent. In some embodiments, the spring (S) can represent a twist string that can be rolled or unwound by the FD (as shown in phases 711 and 712). Once the twisted string is under tension, the spring (S) can be represented as under tension (as shown by phases 710 and 713). In another example, the spring (S) may represent an element that is completely separate from the FLA. This element can be a spring element such as an elastic band attached to the FLA twist string.

  The FLA (FD) is then activated (705), pulling the second end (702) of the FLA (FD) toward the first end of the FLA. At the same time, the spring (S) is extended, generating tensile force and potential energy in the spring. The clutch (C) is then engaged (707) to reduce the distance between the first end (701) and the second end (702) of the FLA (FD) without further actuation of the FLA. maintain. At this point, the spring (S) is still stretched, producing tension and stored potential energy.

  When the wearer performs an activity or moves (708) to a position that reduces the distance between the first end (701) of the FLA and the opposite end (703) of the spring, a force is applied. And the potential energy stored in the spring assists the wearer's activity or movement and decreases when the movement is completed.

  In one example, such a subsystem (700) can be configured as a hip extensor muscle to assist the wearer in moving from a sitting position to a standing position. The first end (701) of the FLA can be fixed to the torso in the region of the lower back and the opposite end of the spring can be fixed to the rear of the thigh. In the initial state (710), FLA (FD) and clutch (C) are deactivated and there is little or no force on spring (S) while the wearer is sitting. In the next phase (711) in preparation for standing, the FLA is actuated (705) to generate tension and potential energy (706) in the spring. In the next phase (712), clutch (C) is engaged to maintain spring tension without further actuation or reverse drive of FLA. In the next phase (713), the wearer moves to a standing position. The pulling force and the potential energy stored in the spring assist this action, and the action is performed to reduce the distance between the first end (701) of the FLA and the opposite end (703) of the spring. When reduced, the force and tensile energy decrease (709).

  The subsystem (700) can be used in an exterior suit. Such an exterior suit includes a first load distribution member configured to be worn about a first human body area and a first load distribution member configured to be worn about a second human body area. Two load distribution members can be included. The outer suit may include a muscle assist subsystem (such as subsystem 700) coupled to the first and second load distribution members. The muscle assisting subsystem is coupled to a first load distribution member, a first attachment point, a second load distribution member, a second attachment point, and first and second attachment points. Flexible linear actuator (FLA). The FLA can include a motor (eg, shown as FD in subsystem 700) and at least one twist string coupled to the motor and the second attachment point. In this embodiment, the twist string may act as a spring (S) in subsystem 700. However, it should be understood that separate spring elements may be coupled to the twist string and the second attachment point. The outer suit may include a clutch positioned in parallel with the motor for coupling to the first attachment point and a third attachment point that lies between the motor and the second attachment point. When the clutch is disengaged, the pulling force of the at least one twist string is maintained by the motor, and when the clutch is engaged, the pulling force of the at least one twist string is maintained by the clutch. The outer suit may also include control circuitry that operates to control the operation of the motor and clutch.

  The motor may be operated to increase the pulling force by rotating in the first direction, or the motor may be operated to decrease the pulling force by rotating in the second direction. it can. The second direction is the opposite of the first direction. To save power, the FLA can be deactivated when the clutch is engaged. When the clutch is engaged and the pull force is set to the first pull force threshold, the FLA is such that the pull force is less than the first pull force threshold when the clutch is disengaged. May be deactivated for a first time period, and at the end of the first time period, if the clutch is disengaged, the pull force is maintained at a first pull force threshold or The FLA is activated so that it is above the first tensile force threshold.

  8A-8C illustrate an auxiliary exterior suit, according to some embodiments of the present disclosure. 8A-8C, the auxiliary outer suit can be configured extensively or indefinitely for trial or interim use while optimizing the outer suit for an individual wearer. In these situations, i.e. when the outer suit is used for testing on different wearers, or when the outer suit is specially configured for the individual wearer, the power layer FLA, the stabilizer elastic element. , And it may be desirable to adjust the position and orientation of components of the outer suit, such as base layer load distribution members. In some embodiments, the provisional / test armored suit (PTE) comprises modular components that can be assembled in a wide variety or infinitely different arrangements or configurations for testing purposes or optimization for a particular wearer. Including.

  To allow for the additional configurable functionality of the PTE, the tether can allow some electronic and mechanical components to be stowed out of the exterior suit. In one embodiment, electronics such as circuit boards and batteries may be oversized to allow for additional configurability or data capture. Due to the large size of these components, where it is not desirable to attach them to the PTE, they are placed separately from the outersuit and connected via physical or wireless tethers, System weight can be reduced which can interfere with accurate assessment of functionality. Large oversized power motors can be mounted on the PTE via a flexible drive linkage that allows operation of the power layers without the need for mounting the large motor directly on the PTE. Such oversized power configurations allow optimization of PTE parameters without the constraints that require all components to be directly attached or integrated into the PTE.

  FIG. 8A shows a front view of a PTE according to some embodiments of the present disclosure. In this example, the base layer comprises a shirt (801) that covers the arms and core and a leggings section (802) that covers the thighs. The base layer is initially non-structural and provides a surface for mounting exterior suit components. The outer surface of the PTE base layer is ideally suited for attaching modular components using, for example, surface fasteners. In this example, the face of the base layer comprises loops that mate with hooks on the components to be attached. Depending on the activity being tested or available, the base layer can adapt to various areas of the body, such as legs, cores, arms, etc. The inner surface of the base layer preferably provides friction for gripping against the wearer's clothing or skin. Friction opposes the force generated by the power or stabilizing layer so that the base layer remains in place along the wearer's body.

  The stable layer and power layer components may be modularly positioned and attached to the base layer. In the example of FIG. 8A, two FLAs (803) are attached to the waist and anterior thigh and resemble hip flexors. The FLA is attached to the base layer with a plurality of cords having attachment fastener areas, described as load bearing straps (804) (as discussed in more detail below in connection with FIGS. 19A and 19B). In this embodiment, the fastener area of the load bearing strap fastener includes a small piece of hook and loop fastener (hook portion) laminated to a support structure that is sewn to the cord. The hook-and-loop fastener allows the load-bearing strap to be easily attached to the base layer in almost any configuration. Usually, multiple fern areas are attached to the ends of the stabilizer or power layer components and arranged in a configuration such as a catenary curve to provide an effective load distribution member and across the surface of the wearer's body. The load can be evenly distributed. Load-bearing straps and corresponding components should be removed and repositioned to optimize the layout of the outer suit for characteristics such as biomechanical performance, comfort, body type, or specific activity performed. You can The power layer can be operated and controlled via a manual control device (805) operated by the wearer, a remote control device operated by a technician, or an automatic electronic control device.

  FIG. 8B shows a rear view of a PTE, according to some embodiments of the present disclosure. The base layer comprises large elastic areas (806, 807) around each waist and thigh. In this example, a single FLA (808) is positioned along the spinal centerline to approximate the spinal extensor muscle. The spinal extensor FLA (808) is attached to the waist using load-bearing straps and over the shoulder at the upper end to the webbing tendon (809). Load-bearing straps and webbing allow for quick and easy adjustment and optimization of FLA position and length.

  Two FLAs (810) are attached at the waist and posterior thigh to approximate the hip extensor or gluteus. The upper end of FLA (810) is attached to the base layer at the waist using fern tape. The lower end of FLA (810) is attached to the webbing tendon. The ends of the webbing tendon are then attached to the fern tape that is zipped to the base layer at the posterior thigh. The guide mechanism (812) controls the alignment and routing of the hip extensor muscle FLA (810) to optimize the FLA line of action. In this example, the guide is simply a loop of cord that pulls the central area of the FLA inward. The guide also comprises eyelets, pulleys, hooks, tracks or the like.

  The elastic element (811) of the stabilizing layer is attached to the base layer at the waist and thigh, also using load bearing straps. In this example, the elastic element comprises a plurality of sections of elastic webbing. The addition or removal of elastic zones or the adjustment of their length allows the stiffness of the elastic elements to be adjusted. Load-bearing straps and adjustable webbing attachments can further facilitate adjustment of the position and size of elastic elements.

  FIG. 8C shows a side view of a PTE, according to some embodiments of the present disclosure. The FLA (812), which approximates hip extensor and gluteus, uses a plurality of load-bearing strap sections (814) configured with a catenary curve to create a load distribution member, and a base layer ( 813). The lower end of the FLA (812) is attached to the webbing tendon (815) by the FLA via a load bearing strap (816) attached to the base layer (817) at the thigh. The generated force is transmitted to the thigh.

  The above examples have described an auxiliary exterior suit that will be worn either under or over the wearer's clothing as a whole. In some embodiments, the auxiliary outer suit itself can be stylized and designed to be worn as clothing. 9A-9B illustrate such an example of a main garment of an auxiliary outer suit, in this case, an integrated suit type auxiliary outer suit (USAE), according to some embodiments of the present disclosure. USAE may represent an integral combination of two or more of a base layer, a stable layer, a power layer, and a user interface layer.

  FIG. 9A shows a front view of a USAE 900 according to some embodiments of the present disclosure. The USAE in this example extends from just above the knee to the shoulder, but alternative configurations are contemplated, including covering the lower leg, foot, arm or neck depending on the desired aesthetics and exterior suit support. . The elongated two-way zipper (901) provides an opening and closing that facilitates putting on and taking off of the outer suit. Alternatively, the USAE may include a large arm and / or neck opening that allows the outer suit to be attached and removed without a closure mechanism. The speaker (902) and microphone (903) provide functions such as voice commands that allow the wearer to operate the exterior suit or to function as a mobile communication device. Electrical connections, such as wires and cables, pass through channels (912) embedded in USAE900. Alternatively, the conductive material can be folded directly into the USAE 900, braided, printed, or otherwise embedded.

  USAE 900 can be made primarily from breathable moisture wicking fabric (905) with a tight, ultra-soft base fabric (916). The load distribution members (906a, 906b, 906c, and 906d) can be integrally attached or embedded in the USAE 900. The load distribution member (906a) can be a lower fuselage load distribution member that can perform similar functions to the load distribution members 140, 270 (as discussed above). The load distribution members 906b, 906c can be thigh distribution members that can perform similar functions to the load distribution members 120, 130, 242, 244. The load distribution member 906d may be, for example, a shoulder or yoke type distribution member that can support spinal extensor loads. The FLA (908) that approximates the right and left hip flexors can be attached at the waist (at the load distribution member 906a) and the thigh front (at the load distribution member 906b or 906c). The FLA fixation system (913) is integrally formed with the load distribution members (906a, 906b, 906c, and 906d) to support one or more of the motor components of the FLA 908 and the twist string components of the FLA. can do. The FLA twist string can pass through an integral channel (914) formed with the USAE 900.

  Detachable (or integrated) communication hub (907) provides UX / UI layer functions such as communication with caregivers, attendants, medical staff or service technicians, lifestyle such as health and activity monitoring, or identity verification. A mechanism can be provided. Custom and / or curved contour batteries (911) can be integrated in the USAE 900 in a configuration optimized for wearer comfort. The inertial measurement unit (IMU, 915) is attached to the outer suit at a position that detects applicable motion. For example, the IMU 915 can be positioned on the thigh to detect gait and body position.

  The elastic posture support strap (909) component can be contoured to fit around the hip and core to provide core and posture support. The elastic posture support strap 909 can form a double X shape that intersects the body. For example, the support straps 909 can cross near the abdominal region of the outer suit and cross again near the upper back of the outer suit. The support strap 909 can also extend over the shoulder and be integral with the load distribution member 906d, and the support strap 909 can extend around the thigh and be integrated with the load distribution member 906b, 906c. be able to. The strap 909 can also be integrated with the load distribution member 906a. One or more discrete openings 910 near the groin allow use of the toilet without removing the entire outer suit. In some embodiments, the groin area may be completely free of every layer of the outer suit. In such an embodiment, the user can wear underwear on the exterior suit.

  FIG. 9B shows a rear view of USAE900. The custom and / or curvilinear contour battery (911) may be integrally or removably attached to the exterior suit, for example near the back of the neck and / or under the shoulder. The IMU (915) can be attached to the upper and lower backs to detect the position and movement of the core. One or more FLA (917) approximating the spinal extensor muscles can provide posture support from the load distribution member 906 to the fixation system 919, and the twist string passes through the channel (918) along the spine. . One end of the attitude support FLA (917) can terminate in a FLA fixation system (919) to efficiently transfer FLA load to the load distribution member (906a). The FLA (921) that approximates the hip joint extensor or gluteus is attached near the waist, and more specifically, can be attached to the load distribution member 906a. The twist string associated with the FLA 921 extends through the channel (922) along the posterior portion of the thigh to the fixation system (923) to transfer the force of the FLA to the load distribution members (906b and 906c).

  One or more pressure sensors (925) can be embedded in the USAE 900 to detect the pressure experienced by the wearer. Pressure sensing can be utilized by sensors and control layers to adjust the USAE 900 for comfort, or FLA control, to accommodate the specific assistance needed for various activities. The USAE 900 may utilize a modular system that allows components normally associated with power layers such as FLA, channels (eg, control electronics, sensors) and batteries to be removed from the base layer. The base layer can include fabric worn by a user, load distribution members (906a-d) that are integral or reinforced portions of the fabric, fixed stays, and support straps (such as straps 909). Power layer components can be removed for service (eg, repair, replacement, or battery charging) and the base layer can be cleaned. Additional considerations regarding the modularity of the components of the power supply layer can be found below with respect to Figures 20A, 20B and 21 accompanying the specification.

  FIG. 10 illustrates components of a twist string actuator (TSA) 1000 that can form part of a FLA, according to some embodiments of the present disclosure. 10, the TSA 1000 may include a motor (1001), a power transmission device (1002), a rotary position sensor (1003), a spindle (1004), a thrust plate (1005), and a force sensor (1006). In some embodiments, the TSA 1000 may include more or less components. The motor (1000) can be a direct commutation brushed or brushless DC motor. The motor may be selected for optimum performance and efficiency based on the requirements of the outer suit for the intended wearer and activity, as well as the specific details of the TSA 1000 such as overall length, stroke length, speed and power requirements. it can. The power transmission device (1002) further allows conversion of motor speed and torque to that required by the TSA 1000. The power transmission can be geared or use other linkages such as belts or flexible couplings and can be optimized for efficiency and acoustics. The rotary position sensor (1003) detects partial rotation or full rotation of the motor or the power transmission device for controlling the TSA 1000. The rotary position sensor can be a magnetic or optical encoder with absolute, relative or quadrature signals, a rotary potentiometer, or other similar sensor.

  The spindle (1004) is attached to the output of the motor or power transmission device. The TSA twisted string pair (1007) forms a continuous loop around the dowel (1008) in the spindle. The spindle abuts the thrust plate (1005) that carries the tensile force generated by the TSA. Force sensors such as load cells, thin film resistors, capacitive force sensors or force sensing resistors located between the spindle (1004) and the thrust plate (1005) are generated by the TSA used by the sensor and control layers. It senses tensile loads. Thrust bearings (1009) located between the spindle and the force sensor or thrust plate reduce friction and protect stationary components such as the force sensor or thrust plate from damage by rotating components such as the spindle.

  FIG. 11 illustrates a force sensor system for the TSA 1000 according to some embodiments of the present disclosure. Mechanical components (1101), including motors or power transmissions, are enclosed in a curved profile housing (1102). The operation of the TSA 1100 generates a tensile force in the twist string pair (1103). As a result of these tensile forces, a compressive force is generated between the spindle (1104) and the housing (1102). A spring (1105) located between the spindle (1104) and the housing (1101) can compress in response to this compressive load. Compression of the spring (1105) will result in displacement of the end of the spring closest to the spindle (1104). This displacement can be detected by a displacement sensor (1106) such as a Hall effect sensor, linear encoder, potentiometer or other sensor. Thus, the displacement detected by the displacement sensor can be utilized by the sensor and control layer to calculate the tensile force at the TSA.

  FIG. 12 illustrates a configuration of a TSA 1200 that reduces the total length required for a TSA assembly, according to some embodiments of the present disclosure. The motor (1201) has a central channel or bore (1202). The twisted string pair (1203) passes through the central bore 1202. This is because some of the twisted string pairs (1203) in the central bore (1202) are in parallel with the motor (1201) rather than in series with the motor, thus reducing the overall length by this amount. Significantly reduces the total length of TSA1200. In addition, the cycloid driver (1204) can provide significant gear reduction within a small size.

  FIG. 13 illustrates a TSA 1300 with an O-ring or belt drive 1301 that allows for a large transmission ratio, low physical profile, and minimal noise with a 90 degree power transmission, according to some embodiments of the present disclosure. ing. An O-ring or flexible belt (1301) is wrapped around the input pulley (1303) and output pulley (1304). The input pulley (1303) is coupled to the output shaft of the motor (1301) and the output pulley (1304) is attached to the twisted string pair (1306). In this example, two idler pulleys (1305) control the alignment of the O-ring or belt (1301). The twisted string pair (1306) is attached to the output pulley (1304), and the rotation of the output pulley causes the string to twist, causing the TSA 1300 to contract and generate tension. As the twisted string pair exits the output pulley, it follows the curved bearing surface (1307) with the effective longitudinal axis (1308) of the string at an angle (usually perpendicular) to the axis of rotation of the output pulley. The angular or vertical power transmission enabled by the O-ring / belt drive as well as the twisted string pair path around the bearing surface allows each component to be oriented in its lowest profile configuration. This is desirable for reducing the overall profile of the TSA 1300, both for wearer comfort and aesthetics. Similar to the previous embodiment, spring (1309) and displacement sensor (1310) provide tensile load sensing for the sensor and control circuitry.

  Length sensing is accomplished with a string or cord (1311) configured substantially parallel to the effective longitudinal axis (1308) of the twisted string pair. One end of the string or cord (1311) is wrapped around a spring loaded reel (1312). The opposite end (not shown) of the string or cord (1311) is fixed at or near the opposite end of the TSA. When the TSA is activated or deactivated to increase or decrease its overall length, the string or cord (1311) is pulled out of the spring loaded reel (1312) or back into the spring loaded reel (1312). A rotation sensor, such as a rotary encoder, Hall effect sensor, potentiometer or the like, detects the rotation of the reel (1312). The sensor and control circuit utilizes the signal from the rotation sensor to calculate the absolute length of the twisted string pair 1308, which is an important parameter for the control algorithm used to activate the power layers. be able to.

  FIG. 14 illustrates a TSA 1400 with an O-ring power transmission enclosed in a low profile curved profile housing (1401) according to some embodiments of the present disclosure. An O-ring or flexible belt (1402) is wrapped around the input pulley (1403) and output pulley (1404). The motor (1405) drives the input pulley (1403) and the output pulley (1404) twists the twisted string pair (1406) when the TSA 1400 is activated. The 90 degree power transmission enabled by the O-ring drive allows the motor and output pulley to be oriented within the housing (1401) in the lowest profile configuration. Friction-based power transmissions such as O-ring drives are also quieter than gear-based power transmissions of comparable ratio.

  FIG. 15 illustrates a TSA 1500 according to some embodiments of the present disclosure. In some embodiments, TSA 1500 includes the features described above, as well as absolute length sensing. Length sensing is accomplished with a string or cord (1501) configured substantially parallel to the effective longitudinal axis (1502) of the twisted string pair. One end of the string or cord (1501) is wrapped around a spring loaded reel (1503). The opposite end (not shown) of the string or cord (1501) is secured at or near the opposite end of the FLA (TSA 1500 is a component of). When the TSA 1500 is activated or deactivated to increase or decrease the overall length of the twisted string pair 1502, the string or cord (1501) is pulled from the spring loaded reel (1503) or the spring loaded reel (1503). Be pulled back to. A rotation sensor (1504), such as a rotary encoder, Hall effect sensor, potentiometer or the like, detects the rotation of the reel (1503). The sensor and control layer utilizes the signal from the rotation sensor (1504) to calculate the absolute length of the TSA, which is an important parameter for the control algorithm used to activate the power supply layer. be able to.

  Similar to the embodiments described above, an O-ring or flexible belt (1505) is wrapped around the input pulley (1506) and output pulley (1507) and the idler pulley (1508). The input pulley (1506) is driven by a motor (1509) and the output pulley (1507) twists a twist string pair (1502) that follows a curved contour bearing surface (1510). O-ring power transmission and curved contour bearing surfaces allow motors and pulleys to be configured with optimal or minimum profiles within the housing or enclosure (1511) with high power transmission ratios and minimal noise. The spring (1512) between the housing (1511) and the output pulley (1507) and displacement sensor (1513) allows measurement of the tensile force generated by the TSA, as described above.

  FIG. 16 illustrates a TSA 1600 with a stepped actuator, according to some embodiments of the present disclosure. The TSA 1600 has a first end (1602) with first, second, and third powered actuators (1602, 1603, 1604, respectively). The TSA 1600 has a second end (1605) with an anchor (1606), which in this embodiment is a hook. First, second, and third powered actuators (1602, 1603, 1604) are attached to the first, second, and third twisted string pairs (1607, 1608, 1609), and these twisted strings are attached. The pair is attached to the first, second, and third clutch elements (1610, 1611, 1612), respectively, at opposite ends. Clutch elements 1610, 1611, 1612 can be electric laminated clutches or other electrical or mechanical clutches. Electro-laminated clutches can provide excellent clutch strength with minimal power requirements for a given size clutch. The first end 1601 and the second end 1605 are joined by a stretchable tension member (1613) and the clutch elements (1610, 1611, 1612) are located at expansion joints 1620, 1621, and 1622, respectively. To be done. The tension member 1613 can include expansion joints 1620-1622 and sections 1630-1633.

  The TSA 1600 allows stepped actuation of powered actuators 1602-1604 and their respective twisted string pairs 1607-1609 for optimal speed, stroke length or force. For example, in the first phase, powered actuator 1602 is activated. As a result, the first twisted string pair 1607 is twisted and the first expansion joint 1620 is crushed. When the first twisted string pair 1607 is shortened to the desired or maximum amount, the first clutch element (1610) is activated to secure the first expansion joint of the tension member (1613). The second clutch element (1611) is then actuated to lock the second expansion joint of the tension member (1613) and the second actuator (1603) twists the twisted string pair 1608 to the desired amount. Just shorten it. This process is repeated for the third actuator (1604), twist string pair (1609) and clutch element (1612) so that the stroke length of the TSA is the sum of the stroke lengths of all three twist strings and actuators. Be done. The clutch element allows the actuators to be actuated sequentially, with the twisted string pairs that are not actuated at that time remaining unloaded. This may minimize power requirements, or reverse actuation of the actuator when not in operation. It can be readily appreciated that such a stepped actuator system can be configured with more or less actuators in parallel or series, optimized for the particular requirements of the system.

  The TSA discussed above can be used as part of a FLA incorporated into various exterior suit embodiments. In some embodiments, for a given exterior suit, each FLA can use the same type of TSA. In another embodiment, the FLA in a given armor suit can use different combinations of TSAs. For example, the hip extensor muscle FLA can use TSA1400, and the hip flexor muscle FLA can use TSA1500. In yet another embodiment, the hip extensor muscle FLA can be a mixture of TSA 1000, 1100, 1200, 1300, 1400, and 1500. FLAs can be configured to have lengths ranging from 6 to 24 inches, with different stroke lengths.

  FIG. 17 illustrates a FLA array 1700 according to one embodiment. Array 1700 can include a FLA and a web of clutch elements that work together to provide an optimal load distribution across a surface (of a human anatomy). Array 1700 can be curvilinear contoured for a particular application. For example, the array 1700 can follow a catenary curve or other path similar to a load distribution member. In some embodiments, the array 1700 can be used as a load distribution member.

  FLA array 1700 can include a plurality of primary FLA strings 1710 that span motors 1711 to anchor points 1721. The motor 1711 and the anchor point 1721 can be fixed to the outer suit at predetermined positions (for example, on one or more load distribution members). Motor 1711 can be a twist string actuator (eg, TSA 1000, 1100, 1200, 1300, 1400, and 1500). Each primary FLA string 1710 may include a twist string 1715 and one or more secondary FLA 1730 connected in series with the twist string 1715 between a motor 1711 and an anchor point 1721. The primary FLA strings 1710 can be arranged on top of each other to form an array or web of primary FLA 1710 and secondary FLA 1730. Node 1740 may be present at each intersection of primary FLA string 1710, including the intersection of secondary FLA 1730. Node 1740 can include slide or guide elements that facilitate actuation of the FLA across the intersection. The node 1740 can be fixed to the exterior suit (eg, base layer) or can move freely with respect to the exterior suit (eg, base layer). Node 1740 may include a clutch element (eg, electro-laminated clutch or mechanical clutch). Engagement of the clutch element can lock the relative movement of the FLA 1710 and FLA 1730 at that node and reduce the power requirements to maintain the desired zone distance controlled by the secondary FLA 1730.

  In some embodiments, all or a portion of array 1700 can move through channels defined in an exterior suit (eg, base layer), or can move freely with respect to the base layer. You can For example, each string 1715 can move through a channel or tube present in the outer suit. The channel or tube may be perforated by the opening to allow another string 1715 to be interconnected with the string moving through the channel or tube. FLA1730 can reside within a channel or tube. The node 1740 can reside near the stoma.

  The secondary FLA 1730 can include a motor and a twist string, where the motor is connected to one of the nodes 1740 and the twist string, and the twist string is connected to another node 1740. In this configuration, each secondary FLA 1730 forms a movable area within the FLA array 1700, and the area distance can be independently shortened or lengthened.

  Each of primary FLA 1710 and secondary FLA 1730 can be independently controlled to manipulate tension in FLA array 1700. In one embodiment, the primary FLA 1710 can provide a coarse tension adjustment within the array 1700 and the secondary FLA 1730 can provide a fine tension adjustment within the array 1700. Activation of motor 17111 in either FLA 1710 can steer the path of that twist string 1715 to another twist string. Activation of the motor associated with the secondary FLA 1730 can manipulate the local area of the twist string in series with the secondary FLA 1730. Thus, actuation of different FLA zones within the array (via FLA 1710 and / or 1730) can generate forces and contractions in an optimally contoured armored suit for a particular activity or figure. Selective actuation of FLAs 1710 and 1730 within the array can also deform or change the overall size of the array to accommodate the wearer's body.

  In some embodiments, FLA array 1700 can include as many primary FLAs 1710 and secondary FLAs 1730 and clutches as necessary to perform the operations required for the armor suit. For example, a FLA array can include tens, hundreds, or thousands of individual primary and secondary FLAs and clutches. In one embodiment, the entire exterior suit, or relatively large portion thereof, can be one large FLA array 1700. In another embodiment, an exterior suit can include multiple FLA arrays 1700. FLA array 1700, regardless of whether the outer suit includes one or more FLA arrays 1700, can be controlled to provide assisted movement in accordance with the embodiments discussed herein. For example, the FLA array 1700 can provide assisted exercise for the hip flexors, hip extensors, and extensor spine, or any other muscle. In some embodiments, FLA array 1700 can provide massage to a user. In some embodiments, FLA array 1700 can serve as a load distribution member in an exterior suit. In some embodiments, the FLA array 1700 can serve the dual function of both a load distribution member and a muscle motion assist.

  FIG. 18 illustrates an exemplary implementation of a FLA array 1800 used as part of an exterior suit according to one embodiment. FLA array 1800 can be similar to FLA array 1700. As shown in FIG. 18, the FLA array 1800 is configured similar to a hip extensor muscle or a hip flexor muscle. The FLA array 1800 is arranged along the same path (1801) as the load distribution member. Each path 1801 can include a primary FLA and one or more secondary FLAs (not shown). The path may approximate a catenary curve to minimize or optimally distribute pressure and force along the exterior suit and the wearer's body. In this example, the upper portion 1802 of the array 1800 begins around the waist and hip and the lower portion 1803 of the array 1800 terminates around the thigh. As explained above, the path 1801 intersects at node 1804. Selective actuation of the FLA and / or clutch elements in the array provides for even distribution of force around the outersuit and wearer's body, while moving from a sitting position to a standing position, walking, lifting and the like. The outer suit can be adapted to the particular anatomy and geometry of the wearer's body while generating forces to assist the user's desired activity. As mentioned above, powered actuators such as motors can engage at the edges of the array at the ends of the path 1801 or within the array along the area of the path. The clutch element at node 1804 can selectively inhibit motion of a particular path depending on the function or activity being performed.

  FIG. 19A illustrates a possible configuration of load bearing strap 1900, according to some embodiments of the present disclosure. One or more load bearing straps 1900 can be used to create a wide or infinitely configurable load distribution member. The load-bearing straps 1900 can allow the load (indicated by the arrow) to be distributed over some curved or straight path. For example, load-bearing strap 1900 is illustrated in the exterior suit of FIGS. 8A and 8C. The load bearing strap 1900 can include a longitudinal cord 1901 with a tab 1902 attached to the cord 1901. The diameter of the cord 1901 and the size and shape of the tab 1902 can be selected to achieve the desired bending direction and the dimensions of the shape obtained by bending. For example, smaller diameter cord 1901 may allow strap 1900 to move to a smaller circumferential curve than a larger diameter cord.

  Any suitable shape of tab 1902 can be used. The tabs 1901 can help distribute the force while keeping the strap 1900 relatively flat. For example, the taps can be oval, circular, rectangular, toothed, or wedge shaped. Tabs 1902 can be shaped to control the direction in which strap 1900 can be moved. For example, as shown, the tab 1902 has an elliptical shape. The oval shape allows the strap 1900 to move relative to the cord 1901 in two directions (up and down or left and right). Keystone or tooth tabs can limit strap movement in one direction relative to the cord 1901.

  FIG. 19B illustrates a cross section of load bearing strap 1900. The longitudinal cord 1901 can be secured to the pad 1902 with stitches 1903 (or adhesive). The hook-and-loop fastener 1904 can be on the underside of the pad 1902 and is operative to releasably attach the pad 1902 to a substrate 1905 (which can be, for example, the base layer of an exterior suit). The flexible and releasable attachment feature allows one or more straps 1900 to be reconfigured repeatedly, creating an optimized load distribution member for improved comfort and function. be able to. In some embodiments, the strap 1900 can be bonded to the substrate 1905 by gluing, stitching, or other type of attachment.

  20A-20B illustrate an exemplary Underwear Auxiliary Exterior Suit (UAE) system 2000 with modular components, according to one embodiment. As discussed above with respect to USAE900, the modular components are designed to be removed from the base layer of an exterior suit. As shown in FIGS. 20A and 20B, the UAE 2000 includes a base layer 2001 with integrated load distribution members 2002a, 2002b, and 2002c. The load distribution member 2002a can be wrapped around the body so as to cover the abdomen, upper back and shoulders. The load distribution members 2002b and 2002c can be wrapped around the thigh. The modular patch assemblies 2003 and 2004 are attached to the base layer so that they are secured to the load distribution members 2002a, 2002b and 2002c. In particular, one of the modular patch assemblies 2003 can be secured to the load distribution members 2002a and 2002b, and the other modular patch assembly 2003 can be secured to the load distribution members 2002a and 2002c. You can The modular patch assembly 2004 can be secured to the upper dorsum / lower neck region of the load distribution member 2002a and to the waist region of the load distribution member 2002a.

  FIG. 20C shows a detailed view of a modular patch (2003) containing FLA for hip extensors. The modular patch 2003 can include a mosaic array of housings 2005 that house components of the power layer, such as motors, power transmission components, force sensing transducers, electronic control and communication systems, batteries, and the like. . The housing 2005 can be inseparable from the patch or modularly removable and replaceable. The housing 2005 can be fixed to the load distribution member 2002b or 2002c. As shown, three of the housings 2005 are attached to a twist string that extends through one of the tubes 2006 to one of the anchor points 2007 located on the load distribution member 2002a. The components of the FLA such as a motor unit to be used can be included. The anchor point 2007 may be detachably coupled to the load distribution member 2002a and may function as an anchor for each twist string. Therefore, when the motor of the FLA operates, the FLA twists the twist string and provides tension that pulls the load distribution member 2002a toward the load distribution member 2002b. When the modular patch 2003 is removed, the entire housing 2005, tube 2006, and anchor points 2007 are removed from the base layer 2001. The modular patch 2004 can include a configuration similar to the modular patch 2003 and can be removed as a whole.

  In some embodiments, modular patches 2003 and 2004 can be used to house all electronics, FLA, and components associated with the power layer. The modular patch can be removable to allow cleaning of the base layer. The modular patch can serve as an interconnect to the load distribution member (integrated in the base layer). This interconnect can support actuation of the FLA, which provides assisted movements of the hip flexors, hip extensors, or extensors of the spine. The modular patch can pass through an opening that allows the component (and thus the FLA component) to be secured directly to the load distribution member. In addition, the modular patch can serve as a unique load-balancing member-like structure for supporting batteries and substrates, sensors, electronics, and others.

  In some embodiments, the UAE2000 components can have other suitable placement positions, shapes, numbers and / or arrangements. For example, although FIG. 20C shows the housing 2005 having a hexagonal shape, any other suitable shape can be used. The housing 2005 can have any suitable number, placement location, and / or arrangement.

  FIG. 21 illustrates one embodiment of an undergarment auxiliary exterior suit with modular patches and various situations of use. Modular patches (2101) representing hip and spinal extensors are attached to the base layer (2102). The modular patch 2101 is removed at process step 2107 to facilitate removal of the outer suit at 2103, to utilize the toilet at step 2104, or to clean the outer suit at step 2108. You can With respect to the cleaning step 2108, removal of the modular patch 2101 may allow the base layer to be machine washed without damaging the electronics. One or more battery packs 2105 can be removed from a modular patch or other location on the exterior suit and replaced or charged, for example, at charging station 2106.

  Modular patches and components may be removed and replaced, for example for cleaning, servicing, battery replacement or charging, or replacement with various components such as flexdrives having different strengths, speeds or weights. be able to. Modular components can also allow for the construction of exterior suits for special individuals based on their particular body size, weight, and functional requirements. For example, the base layer may be selected from a group of sizes or styles or custom made to provide the features required by the wearer. Features can include removable features, adjustments, pockets, or other functional or aesthetic features. The outer suit can then be constructed with modular patches suitable for individual users. Configurable aspects of the modular patch can include power, strength, speed, flex drive weight and size, battery capacity, communication capabilities, user interface features, or the like.

  22A to 22C show a front view, a rear view, and a side view of a plurality of different load distribution members positioned at different positions of a human body. 22A-22C will be referred to herein in their entirety when describing the load distribution member. The load distribution members include a torso load distribution member 2210, a pelvis load distribution member 2230, and thigh load distribution members 2050 and 2070.

  The torso load distribution member 2210 may include non-stretch members 2211-2213 that originate from the spinal region on the back of the body and surround the body above and below the peck / chest region of the chest. The anchor points 2216-2218 can be attached via attachment members (not shown). Members 2211-2213 form a gripping line that represents a catenary curve that distributes the load around the torso when subjected to a load event (eg, spinal extensor assist movement). Members 2211-2213 are substantially inextensible, but member 2213 can include an extension 2015 located near the sternum / sternal bone. The extension 2015 may facilitate easier breathing by allowing the diaphragm to extend the extension 2015 during inspiration. The extension 2015 may have limited extension so that the tension of the member 2013 is maintained under load. The members 2211-2213 can be arranged and positioned such that they do not enclose the region located near the navel between the lower ribs and the high natural waist. Although shoulder straps are not shown in FIGS. 22A-22C, shoulder straps may be attached to one or more of the members 2211-2213 to provide additional stability to the fuselage load balancing member 2210. Want to be understood.

  The pelvic load distribution member 2230 distributes the load around the hip joint and acts as an FLA anchor attached between the member 2230 and any one or more of the members 2210, 2250, and 2270. Member 2230 can include members 2231-2233 that wrap around a pelvic / hip joint region of the body. Each of the members 2231-2233 can utilize the catenary curve to better distribute the load below the natural waist (below the navel) and above the lower hip joint. The catenary curve is represented by the V-shape of members 2231-2233. Each of the members 2231-2233 can include a V-shape, and that point can be an anchor point. Each of the members 2231-2233 can include two anchors positioned on opposite sides of the body. The grip line configurations of members 2231 and 2232 balance each other by intersecting each other around the body. For example, member 2231 can include anchor points 2231a (positioned next to the left thigh) and 2231b (positioned next to the right thigh), and member 2232 can be anchor points 2232a (right thigh). Located next to the part) and anchor point 2232b (located next to the left thigh). Member 2233 can include anchor point 2233a (located next to the right hip) and anchor point 2233b (located next to the left hip).

  Thigh load distribution members 2250 and 22270 distribute the load around their respective thighs and act as anchors for the FLA attached between member 2210 and members 2250 and 2270. Member 2250 can include members 2251 to 2253 that wrap around the left thigh. Member 2270 can include members 2271-2273 that wrap around the right thigh. Each of the members 2251-2253 and 2271-2273 can utilize the catenary curve to better distribute the load around their respective thighs. Anchor points may be present for each of members 2251-2253 and 2271-2273.

  FIG. 25 shows an exemplary block diagram of an outersuit 2500 configured to receive patch assemblies 2551-2554 according to embodiments described herein. Outer suit 2500 can include a base layer and a load distribution member as described herein. The patch assemblies 2551-2554 are self-contained, self-powered subsystems that are removably coupled to the outer suit 2500 at respective patch integrated areas 2501-2504. That is, the patch assemblies 2551-2554 can be fixed in place on the outer suit 2500, and the patch assemblies 2551-2554 can be removed from the outer suit 2500 if supplemental movement is required. (For example, if the outer suit 2500 needs to be cleaned). The patch integration areas 2501-2504 can represent a portion of an outer suit that is configured to interconnect with a patch assembly. For example, patch integration areas 2501-2504 can be interconnected with the patch assembly using any suitable attachment mechanism such as fasteners, loops, buckles, and clips. The attachment mechanism may be integrated with the load distribution member of the outer suit and provide the support necessary for the load distribution member to allow muscle assisted movement when the FLA of the patch assembly is activated. The patch assemblies 2551-2554 are attached to the base layer of the outer suit 2500 using standard connection devices that include harness elements that can be made available with zippered covers, snaps or other means of securing attachment mechanisms. Can be installed. The standard connection device allows different sized patches to be inserted into the outer suit, modularity for the wearer who may want to use different sized patches in the same base layer, or customer initial Allows evaluation and fitting. The patch integrated areas 2501-2504 can also be standardized to accommodate various sizes of patch assemblies.

  The patch assemblies 2551-2554 can be specifically configured to fit only in their respective patch integration areas 2501-2504. For example, the patch assembly 2551 can be a left leg hip flexor patch assembly and will only fit with a complementary left leg hip flexor patch integral region, such as patch integral region 2501. FIG. 25 is shown with N patch assemblies and N patch integration areas present. Thus, any suitable number of patch assemblies can be removably coupled to their respective patch integration areas. It should be further understood that the removable connection between the patch assembly and the patch integrated area may include one, two, or three or more attachment points.

  In some embodiments, one of the patch assemblies can function as a master and the remaining patch assemblies can function as slaves. The master patch assembly can include core or central processing control electronics that acts as the main nerve center of the exterior suit. The master patch assembly can send commands to the slave patch assembly to perform exercise assistance functions. The slave patch assembly can communicate data (eg, sensor data, telemetry data, motor control data) to the master patch assembly.

  FIG. 26 is an exemplary block diagram of a patch assembly 2600 according to one embodiment. Patch assembly 2600 can represent any one of patch assemblies 2551-2554 and modular patches 2003, 2004 and 2101. The patch assembly 2600 can include a housing 2610, mounting components 2620, circuit board 2630, control electronics 2640, FLA 2650, power supply 2660, communication circuitry 2670, and other circuitry (not shown). Housing 2610 can house or be attached to mounting components 2620, circuit board 2630, control electronics 2640, FLA 2650, power supply 2660, communication circuits 2670, and other circuits (not shown). Attachment component 2620 can be responsible for coupling the housing or patch assembly as a whole to an exterior suit (eg, patch integration area). Attachment component 2620 can include any suitable attachment mechanism such as fasteners, loops, buckles, and chestnut processes. Circuit board 2630 may provide a board on which control electronics 2640 resides, and may also be used to route power and data signals between other components such as FLA 2650, power supply 2660, and communication circuitry 2670. A connection can also be provided. Control electronics 2640 can include electronics for controlling operation of patch assembly 2600, including, for example, operation of FLA 2650, power management, and communication circuitry 2670. FLA 2650 has been discussed throughout this disclosure and need not be discussed at length here. The power supply 2660 can include one or more batteries or battery packs that can be removed. Communications circuitry 2670 may include wired and / or wireless communications to communicate with a source remote to patch assembly 2600. For example, the communication circuit can communicate with another patch assembly that acts as a master controller. As a particular example, communication circuitry 2670 may receive commands from a remote source that direct control electronics 2640 to activate FLA 2650. In another specific example, data collected by one or more sensors (not shown) associated with patch assembly 2600 may be communicated to a remote source via patch assembly 2600. it can.

  FIG. 27 illustrates an exemplary multiple auxiliary motion patch assembly (MAMPA) 2700 according to one embodiment. The MAMPA 2700 includes many patch assembly features, such as patch assemblies 2551-2554, to provide a single integrated patch configured to be removably coupled to the front and back sides of an exterior suit. Can be represented. The MAMPA 2700 is designed to be wrapped around the exterior suit by the user and further secured to the exterior suit by the user. For example, as shown in FIG. 27, the MAMPA 2700 can be draped over the shoulder and around the hips and legs, and then various portions of the MAMPA 2700 can be secured to a load distribution member (not shown). it can.

  The MAMPA 2700 includes a flexible substrate 2710 that holds various components and acts as a support base for being removably coupled to a plurality of load bearing members on the front and back sides of an exterior suit. Can be included. The MAMPA 2700 can include sensors 2720, batteries 2730, FLA 2740, control electronics 2750, and other circuits. MAMPA may also include a power and communication network coupled to sensor 2720, battery 2730, FLA 2740, and control electronics 2750. The control electronics are activated to selectively activate the FLAs to provide muscle exercise assistance to the user of the outer suit. For example, a first set of FLA can provide hip flexor assisted exercise, a second set of FLA can provide hip extensor assisted exercise, where the first set of FLA and The second set is mutually exclusive. In addition, the third set of FLAs can provide spinal extensor assist movements.

  FIG. 28 shows an exemplary back, side, and front view of the MAMPA 2700 when secured to an exterior suit. The flexible substrate 2710 has been omitted to facilitate clarity of various components, including the cable layout of the power and communication network 2860. As shown, power and communication network 2860 interconnects sensors 2720, batteries 2730, FLA 2740, control electronics 2750, and other circuits.

  FIG. 29 shows an exemplary back, side, and front view of a base layer 2910 of an outersuit 2900, according to various embodiments. The base layer 2910 can include load distribution members 2911 to 2915. The load distribution members 2911 and 2912 are thigh bases, the load distribution member 2913 is a waist / hip joint base, the load distribution member 2914 is a spine base, and the load distribution member 2915 is a shoulder base.

  FIG. 30 illustrates an exemplary back, side, and front view of an exterior suit 2900 with a patch assembly attached in accordance with various embodiments. Each patch assembly 3010-306 can be a self-contained unit, such as patch assembly 2600 of FIG. 26, that can be removably coupled to a suitable load distribution member. The patch assembly 3010 can be attached to the LDM 2911 and 2913. The patch assembly 3020 can be attached to the LDM 2912 and 2913. The patch assembly 3030 can be attached to the LDM 2911 and 2913. The patch assembly 3040 can be attached to the LDM 2912 and 2913. The patch assembly 3050 can be attached to the LDM 2914 and 2915.

  31 and 32 show exemplary front and back views of a base layer 3100 of a women's outer suit, according to one embodiment. Power layers and / or patch assemblies are not shown. The base layer 3100 can include many different features, each of which serves a different purpose and / or improves the manageability of the base layer's fit. The base layer 3100 can include an identification color area 3102, an LED 3104, a touch sensor 3106, and a microphone 3108. The base layer 3100 can include an adjustable shoulder strap 3110 that allows for size adjustment and alignment, and a locking strap 3112 that secures the shoulder strap 3110 in place. The base layer 3100 can include a soft molded portion 3116 for the chest and an underwire 3118 that enables support of the soft molded portion 3116. The base layer 3100 comprises a stretch limiting panel 3120 that limits stretch in all directions, a support band 3122 that stretches to accommodate body movement, and a mesh zone 3124 that stretches and dissipates heat quickly. High stretch zone 3128. The base layer 3100 can include a zipper 3128 that can facilitate dressing and undressing. The base layer 3100 can include a waist / hip joint load distribution member 3130, thigh load distribution members 3132, 3134, and a back load distribution member 3136. Base layer 3100 can include magnetic induction attachment points 3140 to facilitate connection of one or more patch assemblies.

  FIG. 33 shows an exemplary front and back view of a women's exterior suit base layer with a patch assembly and cover layer according to one embodiment. The patch assemblies 3151-154 are bonded to the base layer 3100, and the cover layer 3160 is hung over the patch assemblies 3151-154 and a portion of the base layer 3100.

(Exterior suit control and application method)
The outer suit may be located on or within the outer suit or may be operated by an electronic controller in wireless or wired communication with the outer suit. The electronic controller can be configured in various ways to activate the outer suit and enable the functionality of the outer suit. The electronic controller can access and execute computer readable programs stored in the elements of the outer suit or in other systems that communicate directly or indirectly with the outer suit. The computer-readable program may describe a method of operating the outersuit, or may describe other actions for the outersuit or the wearer of the outersuit.

  FIG. 23 illustrates an exemplary armor suit 2300 that includes an actuator 2301, a sensor 2303, and a controller configured to actuate elements (eg, 2301,2303) of armor suit 2300 to enable the function of armor suit 2300. It is illustrated. Controller 2305 is configured to communicate wirelessly with user interface 2310. The user interface 2310 is configured to present information to the user (eg, the wearer of the outer suit 2300) and the controller 2305 of the flexible outer suit or other system. The user interface 2310 can be involved in controlling and / or accessing information from the elements of the outersuit 2300. For example, the application being executed by the user interface 2310 may access data from the sensor 2303, calculate the actuation of the actuator 2301 (eg, apply dorsiflexion extension), and transmit the calculated motion to the exterior suit 2300. You can The user interface 2310 can be further configured to enable other features, eg, the user interface 2310 is configured for use as a mobile phone, portable computer, entertainment terminal, or operates according to other applications. Can be configured to.

  The user interface 2310 can be configured to be removably attached to the outer suit 2300 (eg, by straps, magnets, Velcro, charging and / or data cables). Alternatively, the user interface 2310 may be configured as part of the outer suit 2300 and not removed during normal operation. In some embodiments, the user interface may be incorporated as part of outer suit 2300 in addition to controlling and / or accessing information about outer suit 2300 using user interface 2310 (eg, outer suit). A touch screen integrated into the sleeve of the 2300), which can be used to control and / or access information about the exterior suit 2300. In some embodiments, the controller 2305 or other element of the exterior suit 2300 may be a wireless or wired communication via standard protocols (eg, Bluetooth®, ZigBee, WiFi, LTE or other cellular standards, IRdA, Ethernet). And configured to enable various systems and devices to act as the user interface 2310 when configured with complementary communication elements and computer readable programs to enable such functionality.

  Outer suit 2300 may be configured as described in the exemplary embodiments herein or otherwise depending on the application. The outer suit 2300 can operate to enable various applications. The outer suit 2300 detects movements of the wearer and in response thereto applies torque and / or force to the wearer's body (eg, using the actuator 2301) to allow the wearer to reach the body and / or the environment. By increasing the force that can be exerted, it can be activated to increase the strength of the wearer. The outer suit 2300 can be operated to train the wearer to perform a particular physical activity. For example, the outer suit 2300 can be operated to enable rehabilitation therapy for the wearer. Additionally or alternatively, the outersuit 2300 operates to impede the wearer's impaired movement and / or uses actuators 2301 and / or other elements (eg, tactile feedback elements) to The actions or motions to be performed and / or the actions or motions that should or should not be performed may be actuated to indicate to the wearer. Similarly, other programs of physical training (eg, dance, skating, other athletic activities, vocational training) are enabled by actuation of the outersuit 2300 to detect motion, torque or force produced by the wearer. And / or force, torque, or other tactile feedback may be applied to the wearer. Other uses for outer suit 2300 and / or user interface 2310 are envisioned.

  In addition, user interface 2310 can communicate with communication network 2320. For example, user interface 2310 may include a WiFi radio, an LTE transceiver or other cellular communication device, a wired modem, or any other element that allows user interface 2310 and armor suit 2300 to communicate with the Internet. . The user interface 2310 can communicate with the server 2330 via the communication network 2320. By communicating with the server 2330, the functions of the user interface 2310 and the outer suit 2300 can be activated. In some examples, the user interface 2310 may upload telemetry data (eg, location, configuration of elements 2301 and 2303 of the outer suit 2300, physiological data regarding the wearer of the outer suit 2300) to the server 2330. it can.

  In some embodiments, the server 2330 may control and / or access information from elements (eg 2301, 2303) of the outersuit 2300 to enable any application of the outersuit 2300. Can be configured. For example, the server 2330 activates elements of the outersuit 2300 to rescue the wearer from a dangerous situation if the wearer is injured, unconscious, or otherwise unable to move, and / or Alternatively, the outer suit 2300 and the user interface 2310 can be activated to rescue the outer suit 2300 and the user interface 2310 itself from a dangerous situation. Other uses for the server in communication with the outersuit are envisioned.

  The user interface 2310 is configured to communicate with a second flexible outer suit 2340 and to communicate with a second user interface 2345 configured to operate the second flexible outer suit 2340. You can Such communication may be direct (eg, using a transceiver or other element to send and receive information between user interface 2310 and user interface 2345 via a direct wireless or wired link. To). Additionally or alternatively, communication between the user interface 2310 and the second user interface 2345 is in communication with the communication network 2320 and / or through the communication network 2320 with the user interface 2310 and the second user interface 2345. Server 2330 configured to facilitate this.

  Communication between the user interface 2310 and the second user interface 2345 can enable the outer suit 2300 and second outer suit 2340 applications. In some embodiments, the movements of the outer suit 2300 and the second outer suit 2340 and / or the wearers of the outer suit 2300 and the second outer suit 2340 can be coordinated. For example, the outer suit 2300 and the second outer suit 2340 can operate to coordinate the lifting of heavy items by the wearers. The timing of the lift, and the degree of support provided by the wearer and / or each of the outer suit 2300 and the second outer suit 2340, may improve stability when a heavy load is being carried or by the wearer. Can be controlled to reduce the risk of injury, or in accordance with some other consideration. Coordination of outer suit 2300 and second outer suit 2340 and / or their wearer movements relative to the wearer and / or elements of the wearer's environment (timing, size, or other characteristic). Applied force and / or torque, and / or providing tactile feedback (through an actuary of the outer suit 2300, 2340, through a dedicated tactile feedback element, or otherwise) to the wearers for coordinated movement. Guiding the wearers to.

  The coordinated operation of the outer suit 2300 and the second outer suit 2340 can be implemented in various ways. In some embodiments, one outer suit (and its wearer) acts as a master and provides commands or other information to the other outer suit so that the movements of the outer suits 2300 and 2340 are coordinated. For example, the outer suit 2300, 2340 can be activated to allow the wearers to dance (or participate in some other athletic activity) in concert. One of the outersuits acts as a "lead" and sends timing or other information about the movements performed by the wearer of the "lead" to the other outersuit so that the other load-balancing member can perform coordinated dance movements. Like In some embodiments, the first wearer of the first outer suit acts as a trainer, modeling a movement or physical activity that the second wearer of the second outer suit can learn to perform. be able to. The first exterior suit is capable of detecting a motion, torque, force, or other physical activity performed by the first wearer and sending information related to the detected activity to the second wearer. You can The second armor suit then provides force, torque, tactile feedback, or other information to the body of the second wearer to perform the movement or other physical activity modeled by the first wearer. Two wearers may be able to learn. In some embodiments, the server 2330 may send commands or other information to the outersuits 2300 and 2340 to enable coordinated operation of the outersuits 2300 and 2340.

  Outer suit 2300 may be operable to communicate and / or record information about the wearer's movements, the wearer's environment, and other information about the wearer of outer suit 2300. In some implementations, kinematics related to the wearer's movements and movements can be recorded and / or transmitted to the server 2330. These data can be collected for medical, scientific, entertainment, social media, or other uses. The data can be used to operate the system. For example, the outer suit 2300 may transfer user-generated motions, forces, and / or torques to a robot system (eg, robot arm, leg, torso, humanoid body, or any other robot system). The robotic system can be configured to communicate and / or the wearer's activity can be configured to simulate a wearer's activity and / or map the wearer's activity to a motion, force or torque of an element of the robot system. In another example, the data may be used to activate the wearer's virtual avatar, such that the avatar's movements are accurately reflected or somehow related to the wearer's movements. The virtual avatar may be instantiated in a virtual environment, presented to the individual or system with which the wearer is communicating, or configured and operated according to any other application.

  Conversely, the outer suit 2300 can be operated to present tactile or other data to the wearer. In some embodiments, the actuator 2301 (eg, twist string actuator, external tendon) and / or haptic feedback element (eg, EPAM haptic element) provides and / or adjusts the force exerted on the wearer's body. , Can operate to present mechanical or other information to the wearer. For example, activation of a particular pattern of haptic elements of outer suit 2300 located at a particular location on outer suit 2300 may indicate that the wearer has received a phone call, email, or other communication. In another example, the robotic system may operate with motions, forces and / or torques generated by the wearer and delivered by the outer suit 2300 to the robotic system. The environment and motion forces, moments, and other conditions of the robot system are transmitted to the outer suit 2300 and presented to the wearer (using actuators 2301 or other tactile feedback elements) to the wearer of the robot system. Force feedback or other tactile sensations associated with motion may be experienced. In another example, the tactile data presented to the wearer includes a wearer's avatar operating based on a virtual environment, such as motion or other data related to the wearer being detected by the outer suit 2300. Can be generated by an environment including.

  It should be noted that the outersuit 2300 illustrated in FIG. 23 is only one example of an outersuit that can be operated by the control electronics, software, or algorithms described herein. The control electronics, software, or algorithms described herein allow flexible armor suits or other mechatronics and / or robotic systems with more, fewer, or different actuators, sensors, or other elements. It can be configured to control. Further, the control electronics, software, or algorithms described herein can be configured to control an outer suit that is configured similar to or different from the example outer suit 2300. Further, the control electronics, software, or algorithms described herein have flexible exteriors with reconfigurable hardware (ie, exterior suits to which actuators, sensors or other elements can be added or removed). The suit may be configured to control and / or may be configured to detect the current hardware configuration of the flexible outer suit using various methods.

(Software hierarchy for control of exterior suit)
The controller of the outer suit and / or the computer-readable medium executed by the controller may be configured to provide encapsulation of the functions and / or components of the flexible outer suit. That is, some elements of the controller (eg, subroutines, drivers, services, daemons, functions) are configured to activate certain elements of the outer suit (eg, twist string actuators, tactile feedback elements) and others of the controller. Elements (eg, other programs) actuate particular elements and / or provide abstract access to particular elements (eg, commands to orient actuators in a command direction, to orient actuators in a command direction). Can be configured to convert to a sufficient set of commands). This encapsulation may allow different services, drivers, daemons, or other computer-readable programs to be developed for different uses of the flexible outersuit. Furthermore, by providing encapsulation of the functionality of the flexible armor suit in a generic and accessible manner (eg, by identifying and implementing an application programming interface (API) or other interface standard), a computer A readable program was created and interacted with the general encapsulated functionality, which allowed the computer readable program to be configured differently rather than as a single type or model of flexible outer suit. The operating mode or function as an outer suit can be enabled. For example, the virtual avatar communication program can access information about the posture of the wearer of the flexible outer suit by accessing the standard outer suit API. Differently configured armor suits can include different sensors, actuators and other elements, but can provide attitude information in the same format by the API. Flexible armor suits or other robotic, exoskeleton, assisted, tactile or other functions and features of mechatronic systems are encapsulated by APIs or according to other standard computer access and control interface schemes. be able to.

  FIG. 24 is an element showing an outline of the outer suit 2400 and a hierarchy of control or operation of the outer suit 2400. The flexible outer suit applies force and / or torque to the outer suit 2400, the wearer of the outer suit 2400, and / or the wearer's environment, respectively, and detects one or more of these properties. Includes configured actuator 2420 and sensor 2430. Outer suit 2400 further includes a controller 2410 configured to operate actuators 2420 and sensors 2430 using hardware interface electronics 2440. Hardware electronics interface 2440 includes electronics configured to interface with controller 1510 with signals used to actuate actuator 1520 and sensor 1530. For example, the actuator 1520 can include an external tendon and the hardware interface electronics 2440 can generate high voltage power to connect and disconnect the external tendon and to report the length of the external tendon. Machines, high voltage switches and high voltage capacity meters. The hardware interface electronics 2440 may be a voltage regulator, high voltage generator, amplifier, current detector, encoder, magnetometer, switch, controlled current source, DAC, ADC, feedback controller, brushless motor controller, or other electronic and It may include mechatronic elements.

  The controller 2410 is further configured to communicate information (eg, wireless signals) between the controller 2410 and any other system and a user interface 2450 configured to present information to a user and / or wearer of the outersuit 2400. And a communication interface 2460 configured to facilitate the communication. Additionally or alternatively, user interface 2450 may be part of a separate system configured to send and receive user interface information to and from controller 2410 using communication interface 2460 (eg, , The user interface 2450 can be part of the cellular phone).

  Controller 2410 is configured to execute a computer-readable program that describes the functionality of flexible outersuit 2412. Among the computer-readable programs executed by controller 2410 are operating system 2412, applications 2414a, 2414b, 2414c and calibration service 2416. The operating system 2412 manages the hardware resources of the controller 2410 (eg, I / O ports, registers, timers, interrupts, peripherals, memory management units, serial and / or parallel communication units), and thus the outer suit 2400. Manage hardware resources. The operating system 2412 is the only computer readable program executed by the controller 2410 that has direct access to the hardware interface electronics 2440 and, thus, the actuators 2420 and sensors 2430 of the outer suit 2400.

  Applications 2414a, 2414b, 2414c are computer-readable programs that describe some of the features, features, operating modes, or operating modes of exterior suit 2400. For example, application 2414a can describe a process that conveys information about the wearer's posture to update the wearer's virtual avatar, which process accesses information about the wearer's posture from operating 2412. Including maintaining communication with the remote system using the communication interface 2460, formatting the attitude information, and sending the attitude information to the remote system. The calibration service 2416 stores parameters that describe the characteristics of the wearer of the outer suit 2400, the actuator 2420 and / or the sensor 2430 so that the actuator 2420 and / or the sensor when the wearer is using the outer suit 2400. Describe processes for updating these parameters based on the operation of 2430, making the parameters available to operating system 2412 and / or applications 2414a, 2414b, 2414c, and other functions related to the parameters. It is a computer-readable program. It should be noted that the applications 2414a, 2414b, 2414c and the calibration service 2416 are intended as examples of computer readable programs that can be executed by the operating system 2412 of the controller 2410 to enable the functionality or operating mode of the outer suit 2400. .

  Operating system 2412 may provide low level control and maintenance of hardware (eg, 2420, 2430, 2440). In some embodiments, operating system 2412 and / or hardware interface electronics 2440 may provide information about outer wear 2400, the wearer and / or the wearer's environment from one or more sensors at a specified rate. Can be detected. The operating system 2412 can use the detected information to generate an estimate of one or more conditions or characteristics of the outer suit 2400 or its components. The operating system 2412 can update the estimate generated at the same rate as the specified rate or at a slower rate. The generated estimate can be generated from the detected information to remove noise, or indirectly to generate an estimate of the detected characteristic, or using some other application-dependent filter. . For example, the operating system 2412 may remove noise and use two or more sensors to measure a single directly or indirectly measured characteristics of the outer suit 2400, the wearer and / or the wearer's environment. An estimate can be generated from the detected information using a Kalman filter to generate the estimate. In some implementations, the operating system can determine information about the wearer and / or exterior suit 2400 based on information detected from multiple time points. For example, operating system 2400 can determine abductor extension and dorsiflexion extension.

  In some embodiments, operating system 2412 and / or hardware interface electronics 2440 may operate and / or provide services associated with the operation of actuator 2420. That is, if actuation of actuator 2420 requires the generation of control signals over time, knowledge of one or more states of actuator 2420, or other considerations, operating system 2412 and / or hardware. The interface electronics 2440 requires a simple command to actuate the actuator 2420 (eg, a command that uses a twist string actuator (TSA) of the actuator 2420 to generate a particular level of force) to execute the simple command. Complex and / or state-based commands to various hardware interface electronics 2440 and / or actuators 2420 (eg, start rotor stored as determined by operating system 2400). Position, the relative position of the motor detected using the encoder, and the force sequence produced by the TSA detected using the load cell to a current sequence applied to the motor windings of the TSA). it can.

  In some embodiments, the operating system 2412 may also provide a system level simple command (eg, a command level of tension applied to the wearer's stapedial floor) of multiple actuators according to the configuration of the outersuit 2400. By converting into a command, the operation of the outer suit 2400 can be encapsulated. This encapsulation allows the operating system 2412 and the hardware interface electronics 2440 to be configured to operate on a particular model or type of armored suit (e.g. Is configured to generate a simple torque generation profile that can be translated into actuator commands sufficient to be applied to the actuator 2420) to perform the functions of the outer suit (eg, outer suit). It can enable the generation of generic applications (where the wearer can extend the legs).

  The operating system 2412 allows the use of various armor suits with a variety of different hardware configurations to enable various mechatronics, biomedical, human interfaces, training, rehabilitation, communication, and other applications. It can serve as a standard multipurpose platform. The operating system 2412 may communicate with the sensor 2430, the actuator 2420, or other elements or functions of the outer suit 2400 with a remote system (eg, using the communication interface 2460) and / or various applications, daemons that communicate with the outer suit 2400. , Services, or other computer-readable programs executed by the operating system 2412 can be made available. Operating system 2412 makes actuators, sensors, or other elements or functions available in a standard manner (eg, via APIs, communication protocols, or other program interfaces), thereby allowing applications, daemons, services, or Other computer-readable programs can be created to be installed, executed, and operated to enable various flexible armor suit functions or modes of operation having a variety of different configurations. APIs, communication protocols, or other program interfaces made available by the operating system 2412 encapsulate, transform, or abstract the behavior of the outersuit 2400, allowing the functionality of a wide variety of differently configured flexible outersuits. It is possible to enable the creation of such a computer-readable program that can be operated to

  Additionally or alternatively, the operating system 2412 may include actuators, sensors or other elements in the armor suit to enable the modular armor suit system (ie, flexible armor suit operating modes or functions). A flexible armor suit system) that can be added to or removed from the armor suit. In some embodiments, the operating system 2412 may dynamically determine the hardware configuration of the outersuit 2400 and, relative to the determined current hardware configuration of the outersuit 2400, the outersuit 2400. The behavior of can be adjusted. This operation may be performed in a “invisible” manner to a computer-readable program (eg, 2414a, 2414b, 2414c) that accesses the functionality of armor suit 2400 via a standard program interface presented by operating system 2412. . For example, a computer readable program may indicate to operating system 2412 via a standard program interface that a particular level of torque should have been applied to the ankle of the wearer of outer suit 2400. The operating system 2412 can responsively determine an actuation pattern of the actuator 2420 sufficient to apply a particular level of torque to the wearer's ankle, based on the determined hardware configuration of the outer suit 2400.

  In some embodiments, operating system 2412 and / or hardware interface electronics 2440 may ensure that outer suit 2400 does not operate to directly cause injury to the wearer and / or damage to elements of outer suit 2400. Actuator 2420 can be activated as described above. In some embodiments, this includes the actuator 2420 not acting to exert a force and / or torque on the wearer's body that exceeds some maximum threshold. This means that the force being applied by actuator 2420 (eg, when executed by controller 2410) is monitored (eg, by monitoring commands sent to actuator 2420, and / or detected by sensor 2430). Or a watchdog process that can be configured to disable and / or modify the operation of the actuator 2420 to prevent injury to the wearer or by monitoring other characteristic measurements) or It can be implemented as another computer-readable program. Additionally or alternatively, the hardware interface electronics 2440 may include circuitry that prevents excessive force and / or torque from being applied to the wearer (eg, force generated by the TSA). By channeling the output of the load cell configured to measure to the comparator and, when the force exceeds a certain level, by configuring the comparator to disconnect the power supply to the TSA's motor).

  In some embodiments, actuating actuator 2420 to ensure that outer suit 2400 does not damage itself may result in damage to the elements of outer suit 2400 that may result in overcurrent, overload. , Configuring a watchdog process or circuit to prevent over-rotation or other conditions from occurring. For example, the hardware interface electronics 2440 may include metal oxide varistors, breakers, shunt diodes, or other elements configured to limit the voltage and / or current applied to the motor windings.

  In addition or in the alternative, the functions described as being enabled by operating system 2412 may be applications 2414a, 2414b, 2414c, services, drivers, daemons, or other computer-readable programs executed by controller 2400. Please note that can be implemented by. Applications, drivers, services, daemons, or other computer-readable programs may have special security rights or other characteristics to enable their use and enable the above functionality.

  Operating system 2412 may be connected to another computer-readable program (eg, application 2414a, 2414b, 2414c, calibration service 2416), by a user (via user interface 2450), and / or other system (ie, communication interface 2460). The hardware interface electronics 2440, the actuator 2420, and the sensor 2430 may be encapsulated for use by a system configured to communicate with the controller 2410 via the). The encapsulation of the functionality of the outersuit 2400 is in the form of an application program interface (API), that is, of the function calls and procedures that an application running on the controller 2410 can use to access the functionality of the elements of the outersuit 2400. It can take the form of a set. In some embodiments, operating system 2412 may enable applications executed by controller 2410 to utilize standard “exterior suit API”. The “exterior suit API” does not require the applications 2414a, 2414b, 2414c to be configured to generate the complex, time-dependent signals required to operate the elements of the outer suit (eg, actuator 2420, sensor 2430). , These applications 2414a, 2414b, 2414c may be able to access the functionality of the outersuit 2400.

  The “Exterior Suit API” is a simple command that the application 2414a, 2414b, 2414c tells the operating system 2412 (eg, “When the wearer's foot touches the ground, it begins to store mechanical energy from the wearer's ankle”). , Which allows the operating system 2412 to interpret these commands and execute sufficient hardware interface electronics 2440 or to execute the simple commands generated by the applications 2414a, 2414b, 2414c. Command signals to other elements of the outersuit 2400 may be generated (e.g., based on information detected by the sensor 2430, determine whether the wearer's foot has contacted the ground, and In response to the user's ankle A high voltage is applied to the Rugaiso tendon).

  The “exterior suit API” can be an industry standard (eg, ISO standard), a proprietary standard, an open source standard, or available to individuals who can create applications for the outer suit. An "exterior suit API" is an application that can be configured to work with a variety of different types and configurations of exterior suits by configuring it to work with a standard "exterior suit API" implemented by a variety of different types and configurations. , Drivers, services, daemons, or other computer-readable programs can be made available. Additionally or alternatively, an "exterior suit API" is an actuator that is unique to an individual outer suit (ie, an actuator that applies a force to a particular body area, in which case a differently configured exterior suit). The suit may provide standard encapsulations (which may not include actuators that apply force to the same specific body area), and also access information regarding the configuration of the "exterior suit API" that the outer suit provides. A standard interface for doing this can be provided. Applications or other programs that access the "Exterior Suit API" access data about the configuration of the exterior suit (eg, position and force between body areas generated by actuators, actuator specifications, sensor positions and specifications). Based on the model of the outer suit generated by the application, and based on information about the data accessed for the outer suit configuration, individual actuators (eg, 30 Newton force in 50 ms) Can generate a simple command for. Additional or alternative functionality may be encapsulated by the "Exterior Suit API" depending on the application.

  Applications 2414a, 2414b, 2414c can individually enable all or some of the features and operating modes of the outer suit described herein. For example, the application may provide tactile feedback (ie, the force, torque, and other information about the activity of the wearer of the outer suit 2400) transmitted to the wearer by transmitting the posture, force, torque, and other information about the activity of the wearer. The tactile control of the robot system may be enabled by translating into forces and torques applied to the wearer's body by actuators 2420 and / or tactile feedback elements. In another example, the application enables the wearer to exercise more efficiently by issuing commands to and receiving data from operating system 2412 (eg, via an API), Accordingly, the actuator 2420 of the outer suit 2400 assists the movement of the user, extracts negative work from the wearer's exercise phase, injects work stored in other phases of the wearer's exercise, or exterior. It is intended to assist other methods of operating suit 2400. In another example, the application enables the wearer to exercise more efficiently by issuing commands to and receiving data from operating system 2412 (eg, via an API), Accordingly, the actuator 2420 of the outer suit 2400 assists the movement of the user, extracts the negative work from the phase of the wearer's movement, and may be compared with other phases of the wearer's movement or other operating methods of the outer suit 2400. Try to inject the stored work. The application can be installed on the controller 2410 and / or on a computer-readable storage medium included in the outer suit 2400 by various methods. The application can be installed from a removable computer-readable medium or from a system that communicates with controller 2410 via communication interface 2460. In some embodiments, the application is from a website, from a repository of compiled or uncompiled programs on the Internet, from online sources (eg, Google Play, iTunes App Store), or from some other source. Can be installed. In addition, the functionality of the application requires that the controller 2410 communicate with the remote system continuously or periodically (eg, to receive updates, authenticate the application, provide information about current environmental conditions). Can be

  The exterior suit 2400 shown in FIG. 24 is intended as an exemplary example. Other configurations of the flexible outer suit, as well as other configurations of operating systems, kernels, applications, drivers, services, daemons or other computer readable programs are envisioned. For example, an operating system configured to activate an outer suit may include a real-time operating system component configured to generate low level commands to activate an element of the outer suit, and a computer stored in the outer suit. Non-real-time components that enable less time-dependent functions such as a clock on the user interface or other functions to update the readable program. The armor suit may include more than one controller, some of which may be real-time applications, operating systems, drivers, or other computer readable programs (eg, these controllers may have very short interrupt service routines). , Very fast thread switching, or other characteristics and features related to latency-sensitive calculations). Configured to enable less dependent features. Further configurations and modes of operation of the outer suit are anticipated. Further, a control system configured as described herein may additionally or alternatively be configured to allow operation of devices and systems other than exterior suits, such as The control systems described herein can be configured to operate robots, rigid armor suits or exoskeletons, auxiliary devices, prostheses or other mechatronic devices.

(Controller of mechanical movement of exterior suit)
The control of the actuator of the outer suit can be implemented in various ways according to various control schemes. Generally, one or more hardware and / or software controllers are arranged on or in the outer suit to provide information about the condition of the flexible outer suit, the wearer of the outer suit, and / or the environment of the outer suit. Sensor and / or a remote system in communication with the outer suit. Then, one or more hardware and / or software controllers may be implemented by the armor suit actuators to perform the commanded state of the armor suit and / or to enable some other application. Can generate a control output that can The one or more controllers may be implemented as part of an operating system, kernel, driver, application, service, daemon, or other computer-readable program executed by a processor included in the outersuit.

(Alternative use and embodiment)
The outer suit embodiments described above generally relate to ankle stretch outer suits for improving ankle flexibility by typically performing patient-directed stretching of DMD. However, it can be readily appreciated that the use of armored suits is not limited to stretching ankles for DMD patients. In one alternative embodiment, the armored suit may be used in place of continuous passive motion (CPM) machines during injury rehabilitation. The system described above can be used, for example, to recover ankle ROM in the case of surgery or arthritis. The ankle ROM exterior suit may further include a FLA that approximates the gastrocnemius to induce plantar flexion of the ankle. While the CPM device simply repeats the preset ROM, the exterior suit can adaptively accommodate changes in the joint ROM. The ROM of the ankle can be sensed by the sensor and control layer, for example via one or more goniometers or force sensors, so that the exterior suit applies a therapy that gradually increases the ROM over time. Like

  The exterior suit can be optimized for other joints and muscle groups. For example, the outer suit can be adapted to pronate or suprate the forearm and wrist to increase the range of motion of joint or muscle movements when contracture occurs. An exterior suit adapted to flex and extend the knee can be used as an alternative to the CPM device to increase the range of motion of the knee after surgery such as anterior cruciate ligament (ACL) reconstruction or total joint replacement. .

  In some embodiments, a powered auxiliary outer suit, primarily for auxiliary functions, may also be adapted to perform the functions of the outer suit. Embodiments of such auxiliary armor suits typically include a FLA that approximates muscle groups such as hip flexors, hip / hip extensors, spinal extensors, or abdominal muscles. In the assisted mode of these exterior suits, these FLAs provide assistance for activities such as movement between standing and sitting, walking and posture stabilization. Actuation of a particular FLA within such an exterior suit system can also provide stretching assistance. Generally, activation of one or more FLAs that approximate muscle groups can stretch antagonist muscles. For example, activation of one or more FLA that approximates the abdominal muscles can extend spinal extensor muscle, or activation of one or more FLA that approximates the hip / hip extensor muscles can increase hip flexor muscles. Can be stretched. The outer suit may be adapted to detect when the wearer is ready to begin stretching and perform an automatic stretching therapy, or the wearer may instruct the outer suit to start stretching therapy. You can give instructions.

(Application field)
It can be appreciated that the auxiliary exterior suit can have multiple uses. Auxiliary exterior suits may be indicated for medical use. These can include therapeutic applications such as adjunct to exercise or stretch therapy for rehabilitation, disease reduction or other therapeutic purposes. Mobility aids such as wheelchairs, walking equipment, crutches, or scooters are often instructed by individuals with movement disorders. Similarly, the auxiliary exterior suit may be indicated as a mobility aid for patients with movement disorders. Compared to mobility aids such as wheelchairs, walkers, crutches, or scooters, auxiliary exterior suits are less bulky and more attractive in appearance, ride, participate in community or social roles, use toilets, and general Can be compatible with daily activities such as regular housework.

  The auxiliary outer suit can also function as a primary garment, fashion item or accessory. The exterior suit can be stylized to the desired appearance. The stylized design can enhance the auxiliary vision that the exterior suit aims to provide. For example, an auxiliary exterior suit aimed at assisting the activities of the torso and upper body can present the appearance of the muscularly developed torso and upper body. Alternatively, the stylized design may be aimed at hiding or camouflaging the functionality of the auxiliary outersuit through the design of the base layer, electrical / mechanical integration or other design factors.

  Similar to auxiliary armor suits intended for medically directed mobility assistance, auxiliary armor suits can be constructed and utilized for non-medical mobility assistance, performance enhancement and support purposes. For many, self-sustaining aging is associated with improved quality of life, but due to the normal aging process, activity may be more restricted over time. Auxiliary exterior suits may allow elderly individuals who live independently to selectively enhance their abilities and activities. For example, walking or walking aids may allow an individual to maintain habitual activities such as social walking or golf. Postural assistance can make social situations more comfortable with less fatigue. Assisting the transition between sitting and standing can reduce fatigue, improve reliability and reduce the risk of falls. These types of assistance, although not explicitly medical in nature, can enable a more fulfilling and independent life during the aging process.

  Exercise applications for the auxiliary exterior suit are also envisioned. In some embodiments, the exterior suit may be optimized to assist certain activities such as cycling. In the cycling example, the FLA, which approximates the extensor muscles of the buttocks or hips, can be integrated with the bicycle garment to assist pedaling. This assistance may vary based on terrain, wearer fatigue level or strength, or other factors. The assistance provided may allow improved performance, damage avoidance, or maintenance of performance in the event of damage or aging. It is understood that the auxiliary exterior suit can be optimized to assist the demands of other sports, such as running, jumping, swimming, skiing, or other exercise. Exercise assisted outer suits can also be optimized for training in a particular sport or activity. The auxiliary exterior suit may guide the wearer in any suitable form or technique, such as a golf swing, running slide, ski form, swimming stroke, or other element of sport or activity. Auxiliary outersuits can also provide resistance to strength or endurance training. The resistance provided may be subject to therapy such as high intensity intervals.

  The auxiliary exterior suit system described above can also be used in gaming applications. The wearer motion detected by the exterior suit can be incorporated as a game controller system. For example, an exterior suit can sense a wearer's movements that simulate running, jumping, throwing, dancing, fighting, or other movements that fit a particular game. The exterior suit may provide tactile feedback to the wearer, including resistance or assistance to the action performed or other tactile feedback to the wearer.

  The auxiliary exterior suit described above can be used in military or emergency response applications. Soldiers and emergency responders are often required to perform difficult tasks when safety or even life can be jeopardized. Auxiliary exterior suits can provide additional strength or durability as required by these professions. The auxiliary outer suit may connect to one or more communication networks to provide communication services to the wearer as well as remote monitoring of the outer suit or wearer.

  The auxiliary exterior suit described above can be used for industrial or business safety applications. Exterior suits can provide greater strength or durability for certain physical tasks such as lifting or carrying, or repetitive tasks such as assembly line tasks. By providing physical assistance, the supplemental exterior suit can also help avoid or prevent occupational injuries resulting from overwork or repetitive stress.

  The auxiliary exterior suit described above can also be configured as a household accessory. Household accessory auxiliary exterior suits can assist with household chores such as cleaning or garden work, or can be used for recreational or athletic purposes. The communication capabilities of the auxiliary armor suit can be connected to a home network for communication, entertainment or security surveillance purposes.

  It is to be understood that the disclosed subject matter is not limited to the details of configuration and arrangement of components illustrated in the detailed description or illustrated in the present application. The disclosed subject matter is capable of other embodiments and of being practiced and being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

  Accordingly, the concepts underlying the disclosure may be readily utilized as a basis for designing other structures, methods, and / or systems that carry out some of the objects of the disclosed subject matter. Will be understood by one of ordinary skill in the art.

  While the disclosed subject matter of the invention has been described and illustrated in the exemplary embodiments above, the disclosure of the invention is illustrative only and departs from the spirit and scope of the disclosed subject matter. It is to be understood that many variations in implementation details of the disclosed subject matter can be made.

101 spandex panel 102 load distribution member 103 flexible linear actuator (FLA)
104 Enclosure 110 Tightening 120 Thigh Dispersion Member 130 Thigh Dispersion Member 140 Lower Body Dispersion Member 170 Chassis Strap System

Claims (20)

A patch assembly,
With a housing detachably attached to the exterior suit,
The housing is
A mounting component for securing the housing to the exterior suit,
At least one flexible linear actuator (FLA),
At least one battery,
Control electronics coupled to the at least one FLA and the at least one battery and configured to selectively actuate the at least one FLA to provide muscle exercise assistance to a user of the exterior suit;
And a patch assembly.   The patch assembly of claim 1, wherein the housing further comprises a circuit board electrically coupled to the at least one FLA, the at least one battery and the control electronics.   The patch assembly of claim 2, wherein the patch assembly is a self-contained system that provides power to the at least one FLA and provides drive control to the at least one FLA.   The housing further comprises a communication circuit electrically coupled to the circuit board, the communication circuit operative to receive a command from a source remote to the patch assembly, the control electronics comprising: The patch assembly of claim 3, operative to selectively activate the at least one FLA based on the received instructions.   The housing further comprises at least one sensor electrically coupled to the circuit board, and data acquired by the at least one sensor is communicated to the source via the communication circuit. 4. The patch assembly according to item 4.   The patch assembly of claim 1, wherein the at least one battery is removable from the housing.   The at least one FLA comprises a motor and a twist string, the twist string being coupled to one of the mounting components and also to a rotating member associated with the motor. Patch assembly.   The patch assembly of claim 1, wherein the at least one FLA is operative to provide one of hip flexor assisted exercise, hip extensor assisted exercise, and spinal extensor exercise.   The patch assembly of claim 1, wherein the attachment component is standardized to allow releasable coupling of the patch assembly of various sizes to the exterior suit. It ’s an exterior suit,
A base layer including a plurality of load distribution members,
A plurality of patch assemblies removably coupled to the base layer via the plurality of load distribution members,
Each of the plurality of patch assemblies includes a housing,
The housing is
A mounting component for securing the housing to the exterior suit,
At least one flexible linear actuator (FLA),
At least one battery,
Control electronics coupled to the at least one FLA and the at least one battery and configured to selectively activate the at least one FLA to provide muscle exercise assistance to a user of the exterior suit;
An outer suit.   The outer suit of claim 10, wherein each of the plurality of patch assemblies further comprises communication circuitry for transmitting and receiving data.   The plurality of patch assemblies include first, second, and third patch assemblies, wherein the control electronics function as a master controller in the first patch assembly and the second and third patch assemblies. 12. The outer suit of claim 11, wherein the control electronics functions as a slave controller in the patch assembly and the master controller communicates with the slave controller via the communication circuit.   13. The first, second, and third patch assemblies are each self-contained systems that power the at least one FLA and provide drive control to the at least one FLA. The exterior suit described in.   The outer suit according to claim 13, wherein the slave controller performs drive control on the at least one FLA based on a command received from the master controller.   13. The outersuit of claim 12, wherein each of the second and third patch assemblies includes at least one sensor that provides data to the master controller via the communication circuit.   At least one FLA of each patch assembly of the plurality of patch assemblies comprises a motor and a twist string, the twist string being coupled to one of the mounting components and associated with the motor. The outer suit of claim 12, which is coupled to a member.   The at least one FLA of the first patch assembly is operative to provide spinal extensor movement, and the at least one FLA of the second patch assembly is hip flexor assisted exercise, hip extensor muscle. Operative to provide one of assisted exercise and spinal extensor exercise, wherein the at least one FLA of the third patch assembly is one of hip flexor assisted exercise and hip extensor assisted exercise. The exterior suit of claim 16, which is operative to provide a. A plurality of auxiliary motion patch assemblies,
A flexible base material configured to be detachably coupled to a plurality of load distribution members existing on the front side and the rear side of the exterior suit,
A plurality of sensors fixed to the flexible substrate,
A plurality of batteries fixed to the flexible substrate,
A plurality of flexible linear actuators (FLA) fixed to the flexible substrate;
Control electronics fixed to the flexible substrate,
A power and communication network coupled to the plurality of sensors, the plurality of batteries, the plurality of FLAs and the control electronics;
Equipped with
A plurality of supplemental exercise patch assemblies operative to selectively activate the plurality of FLAs to provide muscle exercise assistance to a user of the outersuit.   19. The plurality of auxiliary motion patch assemblies of claim 18, wherein the flexible substrate is designed to be hung by the user around the exterior suit and is further secured to the exterior suit by the user.   The plurality of FLAs include a first set of FLA that provides hip flexor assist movements and a second set of FLA that provides hip extensor assist movements, the first and second FLA sets. 19. The plurality of auxiliary motion patch assemblies of claim 18, wherein the sets are mutually exclusive.

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