CN109152651A

CN109152651A - Sensor-based control of active wearable system

Info

Publication number: CN109152651A
Application number: CN201780031840.6A
Authority: CN
Inventors: 罗德里克·A·海德; 乔丁·T·卡勒; 丹尼斯·J·里韦特; 苏珊娜·凯思琳·谢勒; 凯瑟琳·E·谢拉丁; 洛厄尔·L·小伍德
Original assignee: Elwha LLC
Current assignee: Elwha LLC
Priority date: 2016-05-23
Filing date: 2017-05-19
Publication date: 2019-01-04
Also published as: EP3463217A1; WO2017205201A1; JP2019518618A

Abstract

Active wearable system includes the one or more setting elements for being configured as torso support and/or other wearable items, for sensing the movement of subject, posture or the one or more sensors of gait, and under the control that control circuit is carried out in response to the movement of the subject sensed, posture or gait, apply element and at least one of feedback device and other actuators to the power of the selected position applied force of the body of the subject.In one aspect, according to space or time mode applied force.Describe relevant device and method.

Description

Sensor-based control of active wearable system

All themes of priority application are incorporated herein by reference, as long as this kind of theme and not contradiction herein.

Summary of the invention

In one aspect, a kind of system includes but is not limited to: wearable items comprising multiple actuators, each actuating Device is configured to the part positioning of the body relative to subject；At least one boundary mark sensor is suitable for sensing instruction The parameter of the position of boundary mark in the body of the subject or on the body, and generate at least one boundary position signal； At least one setting element is suitable for being worn on the body of the subject, and fixed relative to the body of the subject At least one described boundary mark sensor of position and the multiple actuator, wherein each of the multiple actuator is in opposite In the known location of the wearable items；At least one activity sensor, be adapted to detect for indicating the posture of the subject, Gait or movable input, and generate the posture, gait or the movable active signal for indicating the subject；And control Circuit comprising for receiving the circuit of at least one boundary position signal from least one described boundary mark sensor；With In the circuit for receiving at least one active signal from least one described activity sensor；Signal processing circuit is used for Target site on body based at least one described boundary position signal and the subject relative to the boundary mark Know position, calculates position of the target site relative to the wearable items；Signal processing circuit, be used for select near At least one actuator of the nearly target site；And the circuit for generating electric control signal, the electric control signal are used The actuating of at least one actuator is controlled in being based at least partially at least one described active signal.In addition to aforementioned interior Except appearance, other systems are described in claims, attached drawing and text of a part for forming disclosure described herein Aspect.

In one aspect, a kind of system includes but is not limited to: at least one remote sensor system comprising be adapted to detect for Indicate the posture of subject or at least one sensor of movable input；And it is indicated described in the subject suitable for sending At least one transmitter of posture or at least one movable the first active signal；Intermediate system comprising described for receiving At least one receiver of at least one the first active signal；And at least one for sending at least one the second active signal A transmitter, at least one described second active signal include to indicate to include the subject in first active signal The posture or movable at least part information；And the wearable items including at least one actuator；At least one Setting element, the trunk for being adapted to the subject position at least one described actuator；At least one receiver, Suitable for receiving at least one second active signal from the intermediate system；And control circuit comprising at least partly The control signal of the actuating for controlling at least one actuator is generated based at least one described second active signal Circuit.In addition to the foregoing, in claims, attached drawing and text of a part for forming disclosure described herein In terms of describing other systems.

In one aspect, torso support system includes but is not limited to: remote sensor system comprising suitable for being located in knot Liner, patch, plate or cushion on structure；It is adapted to detect at least one sensor that subject applies the pressure of the structure, The pressure applies the posture or activity of instruction subject；And suitable for emitting the posture or activity that indicate the subject At least one active signal at least one transmitter；And torso support comprising suitable for exert a force to it is described by At least one power of the part of the trunk of examination person applies element；It is adapted to the trunk positioning institute of the subject State at least one setting element that at least one power applies element；At least one receiver, be adapted for by it is described at least One transmitter transmitting at least one described active signal and based at least one as described in the remote sensor system At least one signal that a sensor detects receives the posture for indicating the subject or at least one movable activity Signal；And control circuit comprising for generating the circuit of control signal, the control signal is for being based at least partially on Apply element by least one received described active signal of at least one described receiver to control at least one described power Actuating.In addition to the foregoing, in claims, attached drawing and text of a part for forming disclosure described herein In terms of describing other systems.

In one aspect, torso support includes but is not limited to: the local portion suitable for exerting a force to the trunk of subject At least one power of position applies element；The trunk for being adapted to the subject positions at least one described power and applies member At least one setting element of part；At least one receiver is suitable for receiving by least one far from the torso support The posture for the instruction subject that sensor system senses arrive or at least one movable active signal；At least one storage dress It sets, is suitable for storing two or more preassigned patterns for applying element for activating at least one described power, each pre- cover half Formula corresponds to the predetermined gesture or activity of the subject；And control circuit comprising described for being based at least partially on At least one active signal selects the circuit of preassigned pattern from the two or more preassigned patterns；And for generating control The circuit of signal processed, the control signal are used to control at least one described power and apply the actuating of element according to selected pre- Mould-fixed applied force.In addition to the foregoing, in the claims, attached drawing of a part for forming disclosure described herein In terms of describing other systems in text.

In one aspect, torso support system includes but is not limited to: remote sensor system comprising is adapted to detect for indicating The video camera of the posture of subject or movable image；And suitable for sending at least one active signal based on the image detected At least one transmitter, at least one described active signal indicates the posture or activity of the subject；And trunk Supporting element comprising at least one power suitable for exerting a force to the part of the trunk of the subject applies element；It is suitable At least one setting element that at least one described power applies element is positioned in the trunk relative to the subject；At least One receiver, be suitable for receive by far from the torso support at least one described sensor system senses to instruction The posture of the subject or at least one movable active signal；And control circuit comprising for generating control The circuit of signal, the control signal is for being based at least partially on by least one described receiver received described at least one A active signal controls the actuating that at least one described power applies element.In addition to the foregoing, described herein in formation In terms of describing other systems in claims of a part of disclosure, attached drawing and text.

In one aspect, a method of control wearable items comprising but be not limited to: using being operatively coupled to The wearable items and circuit including signal processing circuit receive at least one boundary from least one sensor Cursor position signal, at least one the described boundary mark of boundary position signal designation in the body of subject or on body is relative to institute At least part of position of the wearable items of the body worn of subject is stated, the wearable items include multiple Actuator is configured to for each of the multiple actuator being located in relative to the body of the subject relative to institute State at least one setting element of the known location of wearable items；And control circuit comprising for generating electric control letter Number circuit, the electric control signal is used to control the actuating of at least one selected actuator, to exert a force to Target site；Using the signal processing circuit, the position based on the boundary mark relative to the wearable items is determined Position of the target site relative to the wearable items on the body of the subject；Utilize the signal processing electricity Road, based on the information for indicating the position of the multiple actuator relative to the wearable items, from multiple actuators Select at least one actuator positioned near the target site；And the control circuit is utilized, it is used for by utilizing The circuit of the electric control signal is generated to generate the electric control signal and control at least one selected described cause The actuating of dynamic device.In addition to the foregoing, in the claim of a part for forming disclosure described herein, attached drawing and text In terms of describing other methods in this.

Foregoing summary is merely illustrative, it is no intended to be limited in any way.In addition to theory described above In terms of bright property, except embodiment and feature, by reference to attached drawing and following specific embodiments, other aspects, embodiment It will become obvious with feature.

Detailed description of the invention

In order to which embodiment is more fully understood, referring now to following description with reference to the accompanying drawings.Refer to unless the context otherwise Show, otherwise usually indicates similar or identical project using the same symbol in different figures.Specific embodiment, attached drawing and Illustrated embodiment described in claims is not intended to be restrictive.In the essence for not departing from subject matter presented here In the case where mind or range, it can use other embodiments, and other changes can be carried out.

Fig. 1 is the diagram of torso support.

Fig. 2 is the diagram of torso support.

Fig. 3 is the diagram in terms of the selection for exerting a force to the power application element of target site.

Fig. 4 is the block diagram of torso support.

Fig. 5 is the diagram of torso support.

Fig. 6 is the flow chart for controlling the method for trunk support.

Fig. 7 is the flow chart for controlling the method for trunk support.

Fig. 8 is the flow chart for controlling the method for trunk support.

Fig. 9 shows the product of the non-transitory machine-readable data storage media including the one or more instructions of carrying.

Figure 10 is the diagram of torso support system.

Figure 11 is the diagram of the torso support system in.

Figure 12 is the block diagram of torso support system.

Figure 13 is the diagram of the embodiment of torso support system.

Figure 14 A is the block diagram of the embodiment of torso support system.

Figure 14 B is the diagram of the torso support system of Figure 14 A.

Figure 15 A is the block diagram of the embodiment of torso support system.

Figure 15 B is the diagram of the torso support system of Figure 15 A.

Figure 16 is the diagram of the embodiment of torso support system.

Figure 17 is the flow chart for controlling the method for trunk support.

Figure 18 is the flow chart for controlling the method for trunk support.

Figure 19 is the flow chart for controlling the method for trunk support.

Figure 20 is the flow chart for controlling the method for trunk support.

Figure 21 is the flow chart for controlling the method for trunk support.

Figure 22 is the flow chart for controlling the method for trunk support.

Figure 23 is the flow chart for controlling the method for trunk support.

Figure 24 is the flow chart for controlling the method for trunk support.

Figure 25 shows the product of the non-transitory machine-readable data storage media including the one or more instructions of carrying.

Specific embodiment

In the following specific embodiments, with reference to the attached drawing for forming a part of the invention.In the accompanying drawings, unless up and down Text is indicated otherwise, and otherwise similar symbol usually identifies similar component.In specific embodiment, drawings and claims The illustrated embodiment of description is not intended to be restrictive.In the feelings for the spirit or scope for not departing from subject matter presented here Under condition, it can use other embodiments, and other changes can be carried out.

Fig. 1 depicts torso support 100 comprising multiple power apply element 102, setting element 104 and control circuit 106.Each power applies the part that element 102 is suitable for exerting a force to the trunk of subject.Power applies element (for example, Fig. 1 The power of middle description applies element 102) it can be any structure of the metastomium that can exert a force to subject.It is controllable Active force applies element can be controlled by control circuit 106.

In the embodiment shown in figure 1, power apply element 102 be for example, such as in the United States Patent (USP) of Romano 4,135, 503；The United States Patent (USP) 6,540,707 of Stark et al. and Gross et al. United States Patent (USP) 5,827,209 (each of these specially Benefit be all incorporated herein by reference) described in type expandable fluid/air filling capsule.This seed capsules expands through It is controlled using electrodynamic pump 108 and electrically-controlled valve, wherein providing feedback by pressure sensor (not shown).Power apply element 102 by Fluid line (being not shown in Fig. 1) supply extended from pump 108.

Various types of power can be used in implementations described herein and apply element.Power applies element Trunk contact portion, such as liner or probe and controllable active force apply element, are used to make trunk contact portion split-phase For trunk movement (for example, by by body press and/or by applying shearing force to trunk, for example, passing through frictional engagement trunk Surface).For example, in the embodiment shown in figure 1, power apply element 102 include be covered on capsule for distribute power with And the fabric liner of the comfort level of enhancing subject.It may include actuator, mechanical linkage, inflatable member that power, which applies element, Part, inflatable element, pneumatic element or Hydraulic Elements, or power or pressure can be applied to the part of trunk in a controlled manner One or more of the other structures at position or component.In one aspect, power apply element include by power apply element and Controllable active force applies element.In one aspect, power, which applies element, has the rigidity controllable relative to setting element, controllable Size and/or controllable position.It may include in spring, electroactive polymer, elastic material or viscoelastic material that power, which applies element, It is one or more.In one aspect, it includes actuator that power, which applies element, may include such as mechanical linkage, can be swollen Swollen element, inflatable element, screw, spring, magnetic actuator, electroactive polymer, pneumatic element or Hydraulic Elements.Mechanical or gas The power of dynamic driving, which applies element, can be for example, as (it is incorporated by reference into this for the United States Patent (USP) 5,624,383 of Hazard et al. Text) described in.As described in the United States Patent (USP) 6,746,413 (it is incorporated herein by reference) of Reinecke et al. it is pneumatic and Hydraulic piston type power applies element, and (it is logical for the US publication application 2009/0030359 of such as Wikenheiser et al. Cross and be incorporated herein by reference) described in screw thread/Worm-gear assembly structure may be positioned such that and be pressed against trunk (transmitting is basically perpendicular to skin The power on surface), or be positioned to apply shearing force (that is, power that principal component is parallel to skin surface).With by electric control signal The electro-mechanical force of the mechanical part of driving applies element can receive the control signal from control circuit via wired electrical connection, or Via the reception of wireless signals of such as optics or electromagnetic signal transmitted from control circuit associated with power application element etc Control signal from control circuit.Power apply element can wrap rubbing board (it can be curved or plane), probe, column or With any structure for being suitable for the shape and size to the expectations section applied force of trunk.The power used in torso support Applying element may be adapted to the position for being bonded the trunk of subject, and the position of trunk is selected from back, side, abdomen, thoracic cavity, rib Frame, stomach, hip, pelvic area, chest, shoulder, buttocks, lower back portion and upper back.In one aspect, multiple power apply element In at least part be suitable for subject trunk applied force, make a capable at least component in the trunk perpendicular to subject On the direction on surface.It can be compressing force or pulling force perpendicular to the power on trunk surface.In one aspect, multiple power apply in element At least part be suitable for subject trunk applied force, wherein at least component for being applied to the power of the trunk of subject exists On the direction of the plane tangent of the trunk of subject.It can also include skin engagement element that power, which applies element, be suitable for skin Skin surface applies pulling force or shearing force；For example, skin engagement element may include adhesive, sucker, skin penetration component, friction Surface or other assemblies well known by persons skilled in the art, to apply stretching or shearing force to skin.

The trunk that setting element 104 is adapted to subject positions multiple power and applies element 102, wherein each power applies Element is in the known location relative to torso support.Apply element 102, control circuit 106, pump 108 and it is as described herein its His system unit is attached to setting element 104, but in some respects, can be by pressure or friction (such as by tested Pressed between the trunk and setting element of person) it is held in place.In the example depicted in fig. 1, active torso support 100 It is configured as rear support or front supporter, wherein setting element 104 is configured to be suitable for waist/lower part body around subject The waistband (belt) of dry assembly.However, active torso support may be configured to support or support the other parts of trunk, packet It includes in such as side, abdomen, thoracic cavity, rib frame, stomach, hip, pelvic area, chest, shoulder, buttocks, lower back portion and upper back One or more parts.In general, setting element 104 can be can by power apply element relative to subject trunk extremely Any structure that few a part is held in place, and in various embodiments may include a for example, at least clothing Band, belt, waistband or harness or clothes, such as bodice, girdle, jacket, vest or pull-on pant.In various embodiment party In formula, setting element can include but is not limited to one or more belts or other component.Setting element can by flexible, elastic force or Elastic material is constituted, including but not limited to leather, fabric, ribbon, mesh, cable, rope, flexible metal or polymer, or The part of rigid metal, polymer, or to enable the part to be movably mounted on the mode around the trunk of subject The other materials of (such as by hinge or other linkages or passing through one or more parts of flexible material) connection.

In other respects, setting element can be configured to the non-trunk for being assembled to body part (for example, arm, leg, Hand, foot, head, wrist, ankle, neck etc.) on, as being assembled to the substitution or additional aspects of trunk, and can be used for Power is applied element, sensor and/or other systems component to be fixed to the upper.In some respects, system may include multiple fixed Bit unit.In some respects, single setting element (for example, jacket or other clothes) can be assemblied in its of trunk and body On his part (for example, arm).It should be appreciated that setting element can be executed in addition to the body detent force application relative to subject Function except element, sensor etc..For example, clothes can provide any one or all in warming, steady and fashion Function；Wrist strap can support wrist-watch and alignment sensor, etc.；In general, the positioning member that can be worn on subject's body Part is considered wearable items.

As shown in Figure 1, setting element 104 includes fastener, the trunk by setting element relative to subject is fixed, example Such as, belt 110 and hasp 112 as shown in Figure 1.In other embodiments, other types well known in the art can be used Fastener, including but not limited to hasp, snap-fastener, zipper, latch, clip, frenulum, loop fasteners, zipper etc..Positioning member Part may include actively or passively tension part (for example, elastic band), so that setting element is tightened around the trunk of subject, To provide firm assembly.In one embodiment, setting element can simply include elastomeric element, and the elastomeric element is permitted Perhaps it is slided on the trunk of subject, without fastener.

In one aspect, can be used for including the active tension part in setting element in a part of trunk or other bodies Compressing force is generated on body portion.For example, active tension part, which can be used for tightening clothes in a part of body or other, to be worn Wear a part of article.It should be appreciated that this tightening by active tension part can produce shearing force and compressing force.? On one side, different setting element (or different piece of single setting element) is located on the either side in joint.Across pass The section positioning and active tension part for being connected to different setting elements (or different piece of single setting element) can be used for simulating Or supplement contraction of muscle, to generate or enhance the movement in joint, or on the contrary, resist joint motions.

It is contemplated that torso support as described herein is generally as follows and works: one or more power being activated to apply Canadian dollar part 102 is to exert a force to the target site of trunk by completing as follows: the boundary mark in sensing trunk or on trunk is opposite In the position of torso support, at least one signal and boundary mark and mesh of the position based on the boundary mark in instruction trunk or on trunk The known relation between position is marked, determines target site (for example, muscle or skeletal structure for wanting applied force) relative to trunk branch The position of support selects to be located at power application element near at least one of target site, and controls at least one selected power Apply the actuating of element to exert a force to target site.In the embodiment of figure 1, multiple pulse echo mode A ultrasound moulds Block 114 (being indicated in Fig. 1 with black circle) can be used to detect the position of hyperpelvic boundary mark (for example, particular anatomy structure), such as Described in the U.S. Patent Publication No. 2010/0198067 (it is incorporated herein by reference) of Mahfouze et al..

Power is selected to apply element by the position based on the boundary mark sensed, adjustable power is applied to the position of trunk, With compensate as caused by different postures or by torso support relative to trunk movement (such as torso support loosening or Sliding) caused by variation of the torso support relative to the position of the trunk of subject.If it is known that the given pose of subject And/or movement or the load that muscle and/or skeletal structure are generated in the trunk of subject are moved, and the movement or load can It can lead to damage or uncomfortable, then active torso support can be applied by the appropriate part of one or more to trunk and be expected to prevent Only or the power of damage or discomfort is minimized come in response to detecting the posture or movement.For example, in the embodiment of figure 1, Inclinometer 118 [it can be MEMS type digital incliometer (for example, Analog DevicesADIS16209)] can be used to detect by The gradient of examination person's trunk, to distinguish upright and curved position.For example, institute can be activated when subject is in curved position The power of selection applies element 102, to provide additional support to back.

Method for selecting power to be activated to apply element will be more fully described in conjunction with Fig. 2 and Fig. 3.

Fig. 2 depicts the torso support 200 for the type described in Fig. 1.Torso support 200 includes that multiple power apply member Part 1-12 and setting element 202.Setting element 202 is configured around waist/lower torso wearing waist of subject 204 Band.Setting element 202 includes reference position 206, is indicated by the white circle in Fig. 2 and has coordinate X₀、Y₀、Z₀.Power applies Each of element 1-12 is attached to setting element 202 in the known position relative to reference position 206.Each power applies Element i has coordinate X_i、Y_i、Z_i.Target site 208 (being indicated by cross) is also shown, with coordinate X_T、Y_T、Z_T, Yi Jijie 210 (being indicated by black triangle) are marked, with coordinate X_L、Y_L、Z_L.Target site 208 is the position of the trunk of subject 204, Applied force it is expected at the position, for example to provide support during some parts of trunk or entire movement or load.Target Position 208 can correspond to, such as muscle or skeletal structure.Boundary mark 210 can be in the trunk of subject or on trunk can With any boundary mark sensed by sensor, the sensor is configured to provide sensing to the control circuit of torso support 200 Signal.Sensor and control circuit are not described in Fig. 2, but are retouched in elsewhere herein, such as in conjunction with Fig. 1 and Fig. 4 It draws and describes.In example shown in figure 2, boundary mark 210 is the position of the coccyx 212 of subject 204, and ultrasound can be used Sensor is distinguished and is positioned, as discussed in connection with FIG.

Fig. 3, which is shown, applies member to the power of 208 applied force of target site using torso support 202 as depicted in Figure 2 The various aspects of part.Fig. 3 depicts reference position 206 as shown in Figure 2, target site 208 and boundary mark 210.For clarity, scheme Several power are illustrated only in 3 applies element (2,3,6 and 7).The position of the various elements of system shown in Fig. 3 is sat with Descartes Mark indicates, but other coordinate systems also can be used.In order to it is determined which or multiple power is activated to apply element with to target Position 208 provides power, and detection first includes the letter about boundary mark 210 relative to the position of the reference position 206 of torso support The signal of breath.Various types of signals can be sensed to determine the position of boundary mark 210.Boundary mark 210 is relative to reference position 206 Position is by D_0,LInstruction may include both scalar sum vector components to indicate the distance and side relative to reference position 206 To.Next, based at least one boundary position signal and based on target site relative to boundary mark known location (by D_L,T Instruction), determine target site 208 relative to the reference position 206 of trunk support position (by D_0,LInstruction).In Fig. 3, The positional relationship known is indicated that the relationship measured is represented by the dotted line by solid line, and as known to other and/or the relationship that measures is calculated Relationship be represented by the dotted line.As shown in Figure 3, D_L,TIt is known, D_0,LIt is measurement, and thereby determines that and (calculate) D_0,T.Base Apply element in each power selects at least one power positioned near target site to apply relative to the position of target site 208 Canadian dollar part.As previously mentioned, each power apply the position of element relative to the reference position 206 on setting element 202 be it is known, As shown in Figure 2.For example, power shown in Fig. 3 applies element 2,3,6 and 7 with the known location relative to reference position 206 (respectively D_0,2、D_0,3、D_0,6And D_0,7).Similarly, other power shown in Fig. 2 apply 1,4,5 and 8-12 of element and have relatively Known location in reference position 206, and thus may determine that these power apply each of element relative to target portion The position of position 208.In one aspect, the position for effectively applying element relative to target site 208 can be determined.However, being Higher efficiency is obtained, is applied once identifying that the distance of target site is shorter than power and applies the power of the known distance between element Canadian dollar part, it is not necessary to consider the element that any power more than such distance applies.Then it can choose near close-target One or more power that position 208 positions apply element to activate to exert a force to target site 208.For example, can choose Power near target site applies element." near " can refer to shortest space length, alternatively, in some embodiments In, it can refer to shortest electrical distance (for example, lowest impedance/resistor path) or other distances well known by persons skilled in the art Measurement.In the example depicted in fig. 3, power applies element 3 and can be selected as being located most closely to the position of target site 208.One Denier has selected one or more power to apply element, so that it may which the one or more selected power of activation apply element to apply power To the back of subject.It should be appreciated that although Fig. 3 depicts the boundary mark that position is different from target site, in some cases Under, target site can at same location with boundary mark (and in some cases, target site itself may be used as boundary Mark).In this case, the process that the power to be activated for identification applies element will be simplified, because of once it is determined that boundary mark Position, the position of target site is determined there is no need to further step.

Fig. 4 is the block diagram for describing the component of general torso support 400, and the general torso support 400 includes multiple Power applies element 402a, 402b and 402c, setting element 404 and control circuit 406.Power applies element and setting element such as It is described above.

Control circuit 406 is suitable for receiving the boundary mark in the body of instruction subject or on body relative to torso support At least one boundary position signal of position, the mesh on trunk based at least one boundary position signal and based on subject Mark known location of the position relative to boundary mark, determine position of the target site relative to torso support, selection near At least one power of target site positioning applies element (for example, 402a), and controls at least one selected power and apply member The actuating of part is to exert a force to target site.

In one aspect, torso support 400 includes at least one sensor 410, is suitable for sensing instruction subject's The parameter of the position of boundary mark in body or on body simultaneously generates at least one boundary position signal.Sensor may include for example Electromagnetic transducer 412, optical sensor 414, infrared sensor 416, acoustic sensor 418, ultrasonic transducer 420, micropulse Radar sensor 422 or temperature sensor 424.Sensor may be configured to sensing muscle activity or nervous activity.Electromagnetism passes Sensor (for example, surface electrode) can be used for sensing by nerve, neuropile or other neuromechanisms or by the muscle (packet below skin Include cardiac muscle or skeletal muscle) electrical activity that generates, for example, the United States Patent (USP) 8,170 of Tan as disclosed on May 1st, 2012 et al., Described in 656 (it is incorporated herein by reference).The body surface potential measured with the electrode on skin surface can be used for determining heart Position, for example, (it is incorporated by reference into this to the United States Patent (USP) 7,983,743 of Rudy as disclosed on July 19th, 2011 et al. Text) described in.It can for example be sensed by magnetometer by the magnetic field that nervous activity generates, for example, such as Sander et al. Magnetoencephalography with a chip-scale atomic magnetometer(Biomedical Optics Express, in May, 2012, volume 3, the 5th phase, page 982；It is incorporated herein by reference) described in.

In one aspect, using the United States Patent (USP) 8 of the Miura as disclosed on August 7th, 2012 et al., described in 238,622 Method, carry out imaging vessels using infrared sensing and drawn with the vascular system in the trunk to subject.See also 1977 The United States Patent (USP) 4 of Nassimbene disclosed on June 28, in, 032,889, it is incorporated herein by reference.On July 24th, 2012 The United States Patent (USP) 8,229,178 (it is incorporated herein by reference) of disclosed Zhang et al. describes one kind to be had for obtaining The palm vein image of visible light and infrared light simultaneously extracts method of the feature to identify individual identity from described image.It should manage Solution, the Pattern matching method for authenticating identity can be similarly used to the image that will test and match with drawing To position boundary mark.

Sensor may include video camera 426, (it can be detector array 428, such as linear array or two-dimentional battle array Column) or charge-coupled device (CCD) 430.In one aspect, boundary mark can be the feature on skin surface, as pore, mole, Wrinkle, hair shaft or hair follicle etc..Skin properties can recognize in the image obtained with ccd sensor, also, use 2010 Method described in the United States Patent (USP) 7,697,735 (it is incorporated herein by reference) of Adam disclosed in April 13 et al., with ginseng Image is examined to compare to determine boundary position.Biological attribute data and the registration on template date and compared with can be such as September 11 in 2012 Progress described in the United States Patent (USP) 8,264,325 (it is incorporated herein by reference) of Fukuda disclosed in day et al..

Acoustics (especially ultrasonic wave) sensor can be used to detect the bone and/or soft tissue knot of the torso interior of subject Structure, usually using the U.S. Patent Publication No. 2010/0198067 such as the Mahfouze on the 5th of August in 2010 et al., (it is by drawing With being incorporated herein) described in system and method.

In one aspect, micro-impulse radar sensor can be used to detect air or the fluid filling position of torso interior, Its in some embodiments can be used as boundary mark, the United States Patent (USP) 6,233,479 of Haddad as disclosed on May 15th, 2001 et al. Described in (it is incorporated herein by reference).Can use 10GHz probe in detecting heart and nervous activity, such as nineteen eighty-two August 17th Discussed in the United States Patent (USP) 4,344,440 of disclosed Aaby et al..

In one aspect, sensor includes temperature sensor.Temperature sensor is public to those skilled in the art Know, including but not limited to resistance temperature detector (for example, thermistor, film temperature sensor), thermocouple and infrared/heat Electric thermometer etc..Temperature measurement can provide, such as about muscle damage, inflammation, the information of blood flow.

In one aspect, the distance sensor 434 that torso support 400 is never located in torso support receives boundary mark position Confidence number 432.The signal transmission of control circuit on from distance sensor to torso support can be carried out by Radio Link, As it is known in the art, for example, the United States Patent (USP) 8,170,656 and 2010 of Tan as disclosed on May 1st, 2012 et al. Described in the U.S. Patent Publication No. 2010/0198067 of Mahfouze disclosed on August 5, et al., each of these patent All it is incorporated herein by reference.For example, distance sensor can be located in wearable items, such as arm as described in Tan et al. Band, wrist-watch, shirt, gloves or other clothings, and may include such as EMG sensor, position sensor or gesture sensor. Such wearable items can also include being used for, such as the movement in response to sensing provides touch feedback (vibration or pressure) Feedback device.For example, in one aspect, the signal from remote camera can provide the information of the position about boundary mark. Other distance sensors, such as described in Mahfouze et al., can include but is not limited to force snesor (for example, being located at tested In the shoes of person's wearing), inertial sensor, such as accelerometer, ultrasonic transducer, aspect sensor, angular transducer.This biography Sensor can be dressed or be carried on the body of subject.In some respects, sensor is far from other systems component and via nothing Wired link is connected to other systems component.

Control circuit 406 may include analog or digital circuit.In one aspect, control circuit 406 may include micro- place Manage device 436.Trunk supports that 400 may include various other elements, including power supply 438.Trunk supports that 400 can be with remote equipment 440 are used in combination, and the remote equipment 440 may include one or more sensors 442 and circuit 444.Control circuit 406 may include memory 450, can store the software (program module) 452 used in the operation of trunk support 400, And/or data 454.Control circuit 406 may include I/O structure 456, provide the communication with remote equipment 440, for example, through The communication is provided by wired or wireless (for example, electricity is magnetically or optically) connection, or the communication with user interface 458 is provided.Remotely Circuit 444 in equipment 440 include signal of the processing from sensor 442 and via I/O structure 456 to active trunk support Part 400 send signal or from active torso support 400 receive signal needed for any circuit.

At aspect, control circuit 406, which is suitable for controlling at least one selected power according to time mode 460, applies element Actuating.In one aspect, control circuit is suitably selected at least one additional power application element (for example, 402b and/or 402c), And at least one selected power is controlled according to spatial model 462 and time mode 460 and applies element 402a and at least one Additional power applies the actuating of element (402b and/or 402c).Such as spatial model makes separated position on several spaces Applied force is with load during being supported on special exercise or several different muscle (or different piece compared with big muscle) of compression.According to Time mode control actuating such as can apply constant force up to the specific duration (for example, corresponding to spy in selected position Surely the duration of the expected duration moved, such as a part of gait cycle) it is equally simple, or such as apply it is a kind of by The cumulative maximum value and simple as the power that the time has functional relation of being added to.More complicated time or spatiotemporal mode can also be used (for example, circulation pattern).

In one aspect, the movement or posture to the control of trunk support based on the subject sensed.Therefore, at one Aspect, torso support includes at least one sensor 464 suitable for sensing the posture of subject, and/or is suitable for sensing tested At least one sensor 466 of the movement of person.The sensor 464 of posture for sensing subject may include that such as integral adds Speedometer or inclinator.For example, if the Attorney Docket number submitted on December 20 in 2012 is 1108-004-001- 000000, inventor Roderick A.Hyde, Jordin T.Kare, Dennis J.Rivet and Lowell L.Wood, Jr. the U.S. Patent Application No. 13/721,474 of entitled Posture Dependent Active Torso Support Described in (it is incorporated herein by reference), posture sensing can be carried out.Sensor 466 for sensing the movement of subject can To include various types of motion sensors well known by persons skilled in the art, example includes as disclosed on April 7th, 2011 Sensing system described in the U.S. Patent Publication No. 2011/0082393 (it is incorporated herein by reference) of Bort, uses Piezoelectric transducer detects the deformation of the orthoses as caused by movements of parts of the body；The Stark as disclosed on September 6th, 2001 Et al. U.S. Patent Publication No. 2001/0020143 (it is incorporated herein by reference) described in accelerometer, deformeter and Pressure gauge；Institute in the United States Patent (USP) 5,827,209 (it is incorporated herein by reference) of the Gross as disclosed on October 27th, 1998 What is discussed is used to detect the power and pressure sensor of joint motions and stress.

Signal from sensor 464 or sensor 466 can be handled by control circuit, with determine subject posture or Movement.Control circuit 406 may be configured to apply power when detecting that expection can cause the movement of muscle load or strain To specified target position (for example, weak flesh in the back of subject).For example, torso support can be activated to detect fortune To weak flesh applied force when dynamic, it is the bending picking up object from floor and doing that the movement, which corresponds to subject, and once by Examination person stretches just release supporting element again.

Control circuit 406 may be adapted to according to the preassigned pattern that can be selected from multiple preassigned patterns (such as 468a-468f) 468 control the actuating that selected at least one power applies element (such as 402a).For example, torso support 400 may include User's input (for example, user interface 458 can be user input), and preassigned pattern 468 can be can be based on user interface On 458 received input select from multiple preassigned pattern 468a-468f.Alternately or in addition, torso support 400 It may include at least one sensor 464 or 466, as described above, its movement or posture for being suitable for sensing subject respectively, and Preassigned pattern 468 can be can movement based on the subject sensed or posture selected from multiple preassigned pattern 468a-468f It selects.In one aspect, multiple preassigned pattern 468a-468f include corresponding to multiple predetermined movements of subject or the mould of posture Formula, the predetermined movement or posture can include but is not limited to stand, sit, lie, walking, standing, sitting down, lying down, reversing, leaning forward, Or recumbency roll (for example, from lying low to lying on one's side, lie on one's side on all fours, lie on one's side to lying low, change position to lying on one's side etc. on all fours). Control circuit 406 may be adapted to the mode for applying the power that element 402a applies by least one selected power by controlling, or Person applies the motor pattern that element 402a is generated by least one selected power by control, such as by using force mode 470 or motor pattern 472 control the actuating that selected at least one power applies element 402a.

In one embodiment, torso support includes Spurs stimulus 480, may include such as resistive element 482, red External source 484, microwave source 486, sonic energy source 488 can provide the other elements of local heating to skin or lower-hierarchy.Spurs Swashing can apply to stimulate blood circulation, promote healing, enhance the comfort level of pain or injured muscles, or be used as and mitigate for example The counterstimulus of feeling of pain.

In one embodiment, torso support includes nerve stimulator 490 or muscle stimulator 492.Nerve stimulator 490 or muscle stimulator 492 may include electrode for transmitting electro photoluminescence, or the one or more for transmitting Neural stem cell Coil, for example, electrode and any of coil can be believed by appropriately configured electric control as known to those skilled Number driving (see, e.g., the United States Patent (USP) 8 of Fahey disclosed on October 9th, 2012 et al., 285,381, simultaneously by reference Enter herein).As it is known to the person skilled in the art, other kinds of nerve or muscle stimulator can be used.Nerve and/or flesh Corn, which swashs, can be used for activating muscle to provide higher levels of intensity or stability at back, or prevents or resist such as pain and believe Number.

Another example of trunk support is shown in FIG. 5.In this example, the mesh of the boundary mark and applied force that sense Marking position is to flex a muscle；Therefore, boundary mark and target site co-locate and relative to trunk support position having the same. Torso support 500 includes setting element 502, is configured as being worn on the vest on the trunk of subject 504；Multiple electromechanics Power applies element 51-65；Control circuit 506；And power supply 508, can be, for example, equipped with control circuit 506 or with control The adjacent battery of circuit 506 processed.Control circuit 506 is connected to power by wired connection (not shown) and applies element 51-65.So And as an alternative, control circuit 506 and power application element 51-65 may include for the wireless communication between component Transmitter and receiver.Power, which applies each of element 51-65, has electric transducer associated there (such as electrode), described Electric transducer is adapted for contact with the skin of subject to detect electrical activity associated with muscle activity (electromyogram or EMG).For example, Apply the electrode 506 on element 62 referring to power shown in expanded view.Electrode 506 be located at power apply element 62 towards subject The side of 504 trunk makes it possible to the skin of contact subject 504.In use, from muscle (such as muscle 510) Electrical activity applies the associated one or more electrode senses of element from power.For example, the activity from muscle 510 can by generation By the EMG signal for applying element 52,53,55,56 and 58 associated electrode detections with power.Flex a muscle 510 position is based on EMG signal level on various electrodes determines.Therefore, identification has relative to the reference point 514 in torso support 500 Position (X_T、Y_T、Z_T) combination boundary mark/target site 512, correspond to muscle 510 centre.Therefore, select one or Multiple power apply element to exert a force to target site.It can choose for example, power applies element 52,53,55 and 56 as in mesh Mark the radius R at position 512_TIt is interior.Then selected power can be activated and apply element 52,53,55 and 56 to transfer force to mesh Mark position 512.In one aspect, can with actuating power apply element 52,53,55 and 56 with when muscle 510 is actively shunk by power It is transmitted to target site 512.On the other hand, element 52,53,55 and 56 can be applied with actuating power, in the active of muscle 510 Target site 512 is transferred force to specified delay after contraction.

Fig. 6 is the flow chart of the method 600 of control torso support as described herein.Method 600 includes receiving instruction At least part of boundary mark relative to the torso support dressed on the trunk of subject in the body of subject or on body Position signal, as illustrated at 602；At 604, the body of subject is determined relative to the position of torso support based on boundary mark Position of the target site relative to torso support on dry, target site have the known location relative to boundary mark；606 Place is applied in element from multiple power and is selected based on the information for indicating position of multiple power application elements relative to torso support At least one power for being located most closely to target site positioning applies element；And at 608, at least one selected power is controlled Apply the actuating of element.

In one aspect, method 600 further includes the signal for the posture for receiving instruction subject and is based at least partially on At least one selected power of the ability of posture control of subject applies the actuating of element, as indicated at 610.In one aspect, described Method include receive instruction subject motion signal and be based at least partially on the movement of subject come control it is selected extremely Few power applies the actuating of element, as shown in 612.

In one aspect, method 600 includes the actuating for controlling selected at least one power and applying element, with to subject Trunk apply pressure 614, shearing force 616 or tension 618.The method may include control at least one selected power to apply The actuating of Canadian dollar part, to change size 620, rigidity 622 or the position 624 that at least one selected power applies element.

Fig. 7 depicts method 700 comprising the modification of method shown in Fig. 6.In various embodiments, instruction is received The signal of the position of boundary mark includes receiving electromagnetic signal 702, optical signalling 704, infrared signal 706, acoustic signal 708, ultrasound Wave signal 710, electric signal 712, magnetic signal 714 or micro-impulse radar signal 716.The signal for receiving the position of instruction boundary mark can be with Including receiving at least one intracorporal skeletal structure 718 of body of instruction subject, the intracorporal soft tissue structure of body of subject 720, the vascular system 722 below the skin surface of the body of subject, muscle activity 724, nervous activity 726 or skin table The signal of local temperature 728 on or below face.The signal of the position of reception instruction boundary mark may include reception instruction can position In on the skin surface of subject or the signal of the marker of the skin surtace of subject or datum mark 730.

As shown in figure 8, in one aspect, correlation technique 800 include determined according to the reception signal of instruction boundary position by The part of the one or more features of examination person is drawn, and part is drawn and is compared with the drawing of the known features of subject, such as Shown in 802.For example, in one aspect, one or more of features include the skin surtace in the body of subject Blood vessel, and known feature depiction is the blood vessel shape appearance figure of subject, as shown in 804.On the other hand, one Or multiple features include the pore on the skin of subject, and known feature depiction includes the pore on the skin of subject Drawing, as shown in 806.On the other hand, one or more of features include the hair or hair on the skin of subject Capsule, and known feature depiction includes the drawing of the hair or hair follicle on the skin of subject, as shown in 808.At one Aspect, one or more of features include the electrical parameter measured on the skin of subject, and known feature depiction packet The drawing for including the electrical parameter on the skin of subject, as shown in 810.Electrical parameter can indicate the position of the heart of subject It sets, as shown in 812 or the position of the neuromechanism of subject, for example, as shown in 814.

Fig. 9 depicts product 900, and the product 900 includes that the one or more of the one or more instructions 904 of carrying is non-temporarily When property machine-readable data storage media 902, one or more of instructions 904 are used for: in the body for receiving instruction subject Or signal of the boundary mark on body relative at least part of position for the torso support dressed on the trunk of subject；Base In position of the target site on the trunk that boundary mark determines subject relative to the position of torso support relative to torso support It sets, target site has the known location relative to boundary mark；Apply elements relative to torso support based on the multiple power of instruction The information of position applies at least one power application element that selection is positioned near target site in element from multiple power；And Control the actuating that at least one selected power applies element.The instruction 904 described in Fig. 9 corresponds to method shown in Fig. 6 600.As other modifications of method discribed in Fig. 6-8 and as described herein can be by using carrying one or more The non-transitory machine-readable data storage medias of a suitable instructions is realized.

In one aspect, one or more non-transitory machine-readable data storage medias 902 carry one or more and refer to 904 are enabled, be used to receive the signal of instruction subject's posture and is based at least partially on the posture of subject is selected to control At least one power apply element actuating.In one aspect, one or more non-transitory machine-readable data storage medias The one or more instructions 904 of 902 carryings, are used to receive the signal of the movement of instruction subject and are based at least partially on tested Person's moves to control the actuating that at least one selected power applies element.

One or more non-transitory machine-readable data storage medias 902 can carry one or more instructions 904, The intracorporal soft tissue structure of body of at least one intracorporal skeletal structure of body, subject for determining subject, in subject Body skin surtace vascular system, flex a muscle or the position of active neuromechanism.

One or more non-transitory machine-readable data storage medias 902 can carry one or more instructions 904, For determining the position of target site based on one or more measured values of the local temperature on or below skin surface.

One or more non-transitory machine-readable data storage medias 902 can carry one or more instructions 904, For determining the position of the skin surtace of marker or datum mark on the skin surface of subject or in subject.

One or more non-transitory machine-readable data storage medias 902 can carry one or more instructions 904, Reception signal for the position according to instruction boundary mark determines that the local of one or more features of subject is drawn；And one Or multiple instruction 904, being used to draw part is compared with the known feature depiction of subject.For example, in various realities It applies in mode, one or more of features include the blood vessel in the skin surtace of the body of subject, and known Feature depiction is the blood vessel shape appearance figure of subject；One or more of features include the pore on the skin of subject, and Known feature depiction includes the drawing of the pore on the skin of subject；One or more of features include the skin of subject Hair or hair follicle on skin, and known feature depiction includes the drawing of the hair or hair follicle on the skin of subject；Alternatively, One or more of features include the electrical parameter measured on the skin of subject, and known feature depiction includes tested The drawing of electrical parameter on the skin of person.Electrical parameter can indicate the position of the heart of subject or the neuromechanism of subject The position of (such as nerve, spinal cord, neural neuromere, neuropile etc.).

In one aspect, one or more non-transitory machine-readable data storage medias 902 carry one or more and refer to 904 are enabled, is used to control the actuating that at least one selected power applies element, to apply pressure to the trunk of subject, cut Shear force or tension.

In one aspect, one or more non-transitory machine-readable data storage medias 902 carry one or more and refer to Enable 904, be used to control the actuating that selected at least one power applies element, for example, with change it is selected at least one Size, rigidity or the position of power application element.

Figure 10 depicts the embodiment of torso support system 1000, and the torso support system 1000 includes and remotely passes The torso support 1002 that sensor system 1004 is applied in combination.Torso support 1002 includes that power applies element 1006a-1006d, The part of the trunk of its subject for being suitable for exerting a force to wearing trunk support；At least one setting element 1008, The trunk detent force for being adapted to subject applies element 1006a-1006d；At least one receiver 1010 is suitable for receiving At least one active signal 1012, at least one active signal 1012 instruction is by least one far from torso support 1002 The posture or activity for the subject that a remote sensor system 1004 detects；And control circuit 1014, it is configured at least It is based in part on by least one the received active signal 1012 of at least one receiver 1010 and controls the application of at least one power The actuating of element 1006a-1006d.In some embodiments it may be desirable to provide torso support 1002 and distance sensor Two-way communication between system 1004, in this case, receiver 1010 can be transceiver or other bi-directional communication devices, It or further include the component of the telecommunication circuit of one or more transmitters other than one or more receivers, and these become Change is considered to belong to the scope of the present invention.

Remote sensor system 1004 includes at least one sensor (showing sensor 1020a, 1020b and 1020c), Its posture or movable input for being used to detect instruction subject；It is tested to be suitable for transmitting instruction at least one transmitter 1022 The posture of person or movable active signal 1012.As will be in conjunction with as being more fully described Figure 11, remote sensor system 1004 are configured as liner 1104, can be positioned on the seat and handrail of chair.

Power, which applies element 1006a-1006d, can be used for position applied force or pressure to the trunk of subject, for example, so as to Muscle for weak flesh or injury provides support and/or other caused by preventing or minimizing because of load in muscle or trunk The discomfort or damage of structure.Torso support 1002 can be configured as back support or back supporter, as shown in Figure 10, But not limited to this, and may be configured to support or support the other parts of trunk, including such as back, side, abdomen, chest Chamber, rib frame, stomach, hip, pelvic area, chest, shoulder, chest muscle position, buttocks, lower back portion or the other parts at upper back.

Imagine torso support as described herein and be generally as follows and work: if it is known that the given pose or work of subject Movement or the load that muscle and/or skeletal structure are generated in the trunk of subject are moved, and the movement or load may cause Damage is uncomfortable, and active torso support will be expected meeting by the appropriate part applied force of one or more to trunk to provide It prevents or minimizes damage or the support of discomfort detects the posture or activity to respond remote sensor system.Usually suggest People with lower back portion slight illness avoids twist motion, especially avoids the trunk between torsion buttocks and shoulder, and by that will bear Lotus is transferred to other muscle (such as arm and leg) to mitigate the load of muscle of back.People with back slight illness is come It says, such as lifts, vehicles passing in and out or chair and the affairs gone to bed etc are particularly problematic.Active trunk as described herein Supporting element provides additional support to reduce load, is illustrated as described herein and by many.Needing less support Or in the case where not needing support, can deactivate power apply element, or can reduce power apply element apply power, with for by Examination person provides bigger freedom of motion, flexibility or comfort.

In embodiment shown in Fig. 10, and in other embodiments that are described herein and describing, power applies Element can be can via trunk from such as trunk contact portion of liner or probe etc to subject position applied force Any structure and controllable power generating means, be used to making trunk contact portion mobile (for example, logical relative to trunk It crosses by body press and/or by applying shearing force, such as the surface by frictional engagement trunk to trunk).Power applies element can It is suitable for being bonded the part of the trunk of subject, wherein the part of the trunk of subject is selected from back, side, abdomen, thoracic cavity, rib Frame, stomach, hip, pelvic area, chest, shoulder, chest muscle position, buttocks, lower back portion and upper back.The ruler of power application element Very little, construction and force capabilities are suitable for being used together with the selected part of trunk.

Power applies the telecommunications that element (for example, power applies element 1006a-1006d) can carry and via electrical connection Number or by being transferred to the wireless signal that power applies such as optics or electromagnetic signal etc of element from control circuit, by control electricity Road (such as control circuit 1014) control.Power, which applies element, may include one or more actuators, mechanical linkage, may expand Element, inflatable element, pneumatic element, Hydraulic Elements, or power or pressure can be applied to the part of trunk in a controlled manner The other structures or component at position.

Power, which applies element, may be adapted to the trunk applied force to subject, and wherein at least part of power is perpendicular to tested On the direction on the surface of the trunk of person.It can wrap rubbing board (it can be curved or plane) for example, power applies element, visit Needle, or with any structure for being suitable for the shape and size to the expectations section applied force of trunk.Power, which applies element, to fit In to skin surface apply compressing force.

It can also include skin engagement element that power, which applies element, be suitable for applying pulling force or shearing force to skin surface；Example Such as, skin engagement element may include adhesive, sucker or friction surface or it is well known by persons skilled in the art to skin apply The other component of pulling force or shearing force.Therefore, power, which applies element, may be adapted to the trunk applied force to subject, and wherein power is extremely Few a part is on the direction of the plane tangent of the trunk with subject.In one aspect, it includes being applied by power that power, which applies element, Canadian dollar part and controllable active force apply element.In one aspect, power applies element and has relative to the controllable of setting element Rigidity, controlled dimensions and/or controllable position.It may include one in spring, elastic material or viscoelastic material that power, which applies element, Kind is a variety of.In one aspect, power apply element include actuator, the actuator may include such as mechanical linkage, Inflatable element, inflatable element, screw, pneumatic element or Hydraulic Elements.The capsule of expandable fluid/air filling for example, Such as in the United States Patent (USP) of Romano 4,135,503；The U.S. of the United States Patent (USP) 6,540,707 of Stark et al. and Gross et al. are special Described in sharp 5,827,209 (each of these patent is all incorporated herein by reference).This seed capsules is expanded through using electricity Dynamic pump is controlled with electrically-controlled valve, wherein providing feedback by pressure sensor.Mechanical or pneumatic actuation power, which applies element, can be For example, the type as described in the United States Patent (USP) 5,624,383 (it is incorporated herein by reference) of Hazard et al..Such as Pneumatic and hydraulic piston type power described in the United States Patent (USP) 6,746,413 (it is incorporated herein by reference) of Reinecke et al. Apply element, and (it is incorporated by reference into this for the US publication application 2009/0030359 of such as Wikenheiser et al. Text) described in screw thread/Worm-gear assembly structure may be positioned such that and be pressed against trunk the power of skin surface (transmitting be basically perpendicular to), or Person is positioned to apply shearing force (that is, power that principal component is parallel to skin surface).

Although setting element 1008 is shown in Figure 10 for being suitable for the waist around subject/intermediate torso installation waist Band, but setting element can be and power can be applied at least part relative to the trunk of subject of element 1006a-1006d Any structure being held in place, and may include, for example including at least one belt, belt, waistband or harness, Or clothes, such as bodice, girdle, jacket, vest or pull-on pant.Setting element can include but is not limited to one or more A belt or other component.Setting element can be made of flexible, elastic force or elastic material, including but not limited to leather, fabric, knit The part of band, mesh, cable, rope, flexible metal or polymer or rigid metal, polymer, or so that the part energy The mode around the trunk of subject is enough movably mounted on (such as by hinge or other linkages or by flexible material One or more parts of material) connection other materials.Setting element (for example, setting element 1008) may include fastener, It is fixed with the trunk by setting element relative to subject, for example, belt 1016 and hasp 1018, Huo Zheben as shown in Figure 10 Other fasteners known to field, including but not limited to hasp, snap-fastener, zipper, latch, clip, frenulum, loop fasteners, drawing Chain etc..Setting element may include actively or passively tension part (for example, elastic band), so that setting element is around tested The trunk of person is tightened, to provide firm assembly.In one embodiment, setting element can simply include elastomeric element, The elastomeric element allows it to slide on the trunk of subject, without fastener.

Applying element 1006a-1006d, receiver 1010, control circuit 1014 and other systems component as described herein can To be attached to setting element 1008 or by pressure or friction (such as by pressing between the trunk and setting element of subject Pressure) it is held in place.

Torso support system as shown in Figure 10 has in Figure 11 using description.Subject 1100 surrounds its waist worn body Dry support arm 1002 is used as back supporter.Setting element 1008 is fixed by belt 1016 and hasp 1018.Also show in Figure 10 Power out applies element (for example, visible 1006a and 1006c in Figure 11) against the lower back portion spots localization of subject 1100. The activity of the transmitter 1022 in remote sensor system 1004 is received in the receiver 1010 in torso support 1002 Signal 1012.Remote sensor system 1004 is configured to be placed on the liner 1104 on chair 1106, wherein central part 1108 include the sensor 1020c above the seat of chair 1,106 1110 and end 1112a includes helping in chair 1106 Sensor 1020a above hand 1114a.The end 1112b and sensor 1020b of liner 1104 are not shown in Figure 11, still It is shown in FIG. 10.

Figure 12 is the block diagram for describing the component of general torso support system 1200 comprising torso support 1202 and at least One remote sensor system 1204.Torso support 1202 includes that at least one power applies element 1206a, is suitable for applying power It is added to the part of the trunk of subject；At least one setting element 1208 is adapted to the trunk positioning of subject At least one power applies element；And at least one receiver 1210, it is suitable for receiving at least one active signal 1212.Trunk Supporting element 1202 may include that additional power applies element；For illustrative purposes, three power are depicted in Figure 12 applies element 1206a-1206c.However, in some embodiments, single power can be used only and apply element, and in other embodiments In, greater amount of power can be used and apply element.Power applies element as described in connection with figure 10, and is in nature usually machine Electricity.It should be appreciated that having the various components that can apply mechanical force or movement, such as rigid body, spring or torsion body, liquid Pressure device, electromagnetic actuating device and/or their practical any combination.As used herein, " Mechatronic Systems " includes but is not limited to The circuit [for example, actuator, motor, piezo-electric crystal, MEMS (MEMS) etc.] operationally coupled with energy converter.This Field it will be recognized that unless the context requires otherwise, otherwise electromechanics used herein be not necessarily limited to have it is electronic and Mechanically actuated system.

Control circuit 1214 be configured to be based at least partially on by least one receiver 1210 it is received at least one Active signal 1212 come control at least one power apply element (for example, 1206a-1206c) actuating.Active signal 1212 indicates By the posture or activity of the subject that at least one sensing system 1204 far from torso support detects.Distance sensor System 1204 includes at least one sensor 1220, is adapted to detect for the posture or movable input 1222 of instruction subject；Extremely A few transmitter 1224 is suitable for emitting the posture for indicating subject or at least one movable active signal 1212.Transmitting Device 1224 may be adapted to emit various types of signals, such as electromagnetic signal, radiofrequency signal, optical signal, infrared signal or acoustics Signal.It should be appreciated that it is various types of for emit the transmitter of above-mentioned signal to be known, and be suitable for emitting a kind of or more The design of the transmitter of kind signal is known for those skilled in the relevant art.See, e.g., on May 1st, 2012 The United States Patent (USP) of Mahfouze disclosed in United States Patent (USP) 8,170,656 and 2010 on August 5, of disclosed Tan et al. et al. is public The number of opening 2010/0198067, each by being incorporated herein by reference.

Sensor 1220 may include such as video camera 1220a, force snesor 1220b, pressure sensor 1220c and/or The sensor of various other types known to as described elsewhere herein or those skilled in the relevant arts.In one aspect, such as At least one sensor in fruit remote sensor system 1204 includes video camera 1220a, then the video camera may be adapted to pacify It fills in the environment, as shown in figure 13；Suitable for being used together with computer, as shown in figure 15；Or be adapted to mount in vehicle, such as Shown in Figure 16.Sensor 1220 can be pressure sensor, motion sensor, proximity sensor or those skilled in the art The other kinds of sensor known.Proximity sensor can be such as micro-impulse radar sensor, infrared sensor, optics and pass Sensor, electromagnetic sensor, acoustic sensor are suitable for detecting the biography of any other type of the degree of approach of subject and position (one or two of signal source that wherein position is usually detected by the position of sensor and sensor defines sensor Or determine).For example, the degree of approach of subject can be based on sending out from torso support (or other signal sources relevant to subject) The intensity for the signal penetrated determines.On the other hand, the degree of approach of subject can be based on emitting, from tested from remote signal sources Person's reflection and the intensity of signal that is detected by sensor determine.In one aspect, at least one sensor is suitable for and vehicle (for example, as Figure 16 embodiment in automobile or aircraft), article of furniture (for example, bed or chair, such as Figure 10,11, In the embodiment of 14A and 14B like that) it is used in combination.At least one sensor can be seat cushion or seat component or bed or The component of mattress.In one aspect, at least one sensor is suitable for being used in combination with floor, such as is built in floor or makees It is used for the component of car mat, as in the embodiment of Figure 13.In one aspect, at least one sensor is suitable for and door (such as door of the vehicles of the door or such as automobile, truck or aircraft etc in building) is used in combination, for example, such as Figure 16 Embodiment in like that.In one aspect, at least one sensor is suitable in conjunction with hinge, latch, doorframe, handrail or handle It uses.At least one sensor may be adapted to be placed in supporting track, handle, handrail or armrest or thereon.Sensor can be with It is built in any of above structure during manufacture, or is placed on or is fixed to supporting track, handle, handrail or lean on hand. For example, one or more sensors can use liner, paste the form of piece or plate or be integrated to liner, paste in piece or plate, institute Such as guide rail, handle, handrail can be fixed to or be leaned on adhesive, screw, magnet or other fasteners by stating liner, patch piece or plate In the structure of hand etc, or by placing over the structure and by gravity and/or frictionally holding in place solid Determine onto the structure.In one aspect, at least one sensor may be adapted to be used in combination with stair, tested for example to detect Person, which has caught banister or passed through/pass through, leads to the region on the region or stair of stair, for example, such as the implementation of Figure 13 In mode like that.

In one aspect, trunk supports that system 1200 may include both receiver 1210 and transmitter 1215, at one Aspect, they are the components of transceiver 1217, to provide the two-way with remote sensor system 1204 or other systems component Letter.Similarly, remote sensor system 1204 may include 1225 the two of transmitter 1224 and receiver, in one aspect, it Be transceiver 1227 component, with provide with trunk support system 1200 two-way communication, or to other systems component send out The number of delivering letters receives signal from other systems.

In one aspect, the receiver 1210 in torso support 1202 is suitable for receiving wireless signal.Wireless signal can be with Electromagnetic signal, for example, radiofrequency signal, optical signal or infrared signal or it can be acoustic signal or other wireless signals. Receiver for receiving wireless signal is well-known in electronic field.For example, receiver 1210 may include being suitble to In antenna 1210a, the optical sensor 1210b for receiving optical signal for receiving radiofrequency signal or it is suitable for receiving acoustic signal Acoustic sensor 1210c.

In one aspect, at least one transmitter 1224 in remote sensor system 1204 is suitable at least one activity Signal 1212 is emitted at least one receiver 1210；Related to this, at least one receiver 1210 is suitable for from least one hair Emitter 1224 receives at least one active signal 1212.This configuration is for example shown in FIG. 11.

Torso support 1202 can also include identification signal receiver 1216, be suitable for receiving the identity of instruction subject Signal 1218.Identification signal 1218 can be include or coding subject identity electromagnetic or optical signal.It is related to this, control Circuit 1214 processed is configured to be based at least partially on the identity of subject to control at least one power and apply element 1206a- The actuating of 1206c.For example, control circuit 1214 may be configured to the only identities match in the identity of subject and authorized user When ability actuating power apply element 1206a-406c.Alternatively, control circuit can the identity based on subject be suitable for it is specific by The AD HOC actuating power of examination person applies element 1206a-1206c.For example, if will by hospital or other medical device suppliers Different subjects is lent or rented to torso support, then torso support can be used by different subjects.In each side Face, the identity of subject is according to RFID signal, according to being carried by subject or otherwise electronics associated with subject The identifier of equipment (such as mobile phone) is determined by face recognition or other kinds of bio-identification ID.For example, identification signal connects Receiving device 1216 may be adapted to receive electromagnetic signal, optical signal or acoustic signal.

In one aspect, control circuit 1214 includes signal processing circuit 1230, is configured to handle at least one activity Signal 1212 with determine subject posture or activity 1232.Control circuit 1214 is configured to be based at least partially on and determine Subject posture or activity 1232 come control at least one power apply element (for example, 1206a-1206c) actuating.

In all fields, signal processing circuit 1230 may be configured to processing picture signal, pressure signal, motion-sensing Device signal or proximity sensor signal, for example, posture or activity to determine subject.For example, on November 10th, 2009 The United States Patent (USP) 8 of Iihoshi disclosed in United States Patent (USP) on March 12nd, 7,616,779,2013 of disclosed Liau et al. et al., Yang disclosed in United States Patent (USP) on June 1st, 7,330,566 or 2010 of Cutler disclosed in 12 days 2 months 396,283,2008 years Et al. United States Patent (USP) 7,728,839 (its each by be incorporated herein by reference) in describe for handling picture signal with determination Posture and movable method.In one aspect, signal processing circuit 1230 is configured to handle proximity sensor signal；Example Such as, signal processing circuit 1230 is configured to the degree of approach that signal strength determines subject and position.

Control circuit 1214 may include analog circuit 1236 or digital circuit 1238.In one aspect, control circuit 1214 may include microprocessor 1240.In one aspect, analog circuit 1236 or digital circuit 1238 and microprocessor 1240 It is used in combination.In one aspect, control circuit 1214 includes software；For example, control circuit 1214 may include memory 1242 Or other volatibility or non-volatile memories structure, to include program module used in the operation of torso support 1202 1244.Memory 1242 can also include various types of data 1246, including but not limited to operating parameter 1246a, sensor Data 1246b and mode data 1246c, 1246d, 1246e and 1246f etc..

Active torso support 1202 may include various other elements, including power supply 1260, and one or more biographies Sensor 1262 can sense the related various parameters of the state of operation or subject with torso support.For example, sensor 1262 may include integrating accelerometer or inclinator.The data of accelerometer on the buttocks for being located at subject can be used for Walking is distinguished, turns, go upstairs or goes downstairs, (" the Accelerometric Activity as described in Sabelman et al. The 26th boundary Identification for Remote Assessment of Quality of Movement ", IEEE EMBS The minutes of annual international conference, San Francisco, State of California, US, in September, 2005 1-5 days, the 4781-4784 pages, It is incorporated herein by reference).For example, if the Attorney Docket number submitted on December 20 in 2012 is 1108-004-001- 000000, inventor Roderick A.Hyde, Jordin T.Kare, Dennis J.Rivet and Lowell L.Wood, Jr. the U.S. Patent Application No. 13/721,474 of entitled Posture Dependent Active Torso Support Described in (it is incorporated herein by reference), posture sensing can be carried out.Sensor 1262 includes for example, such as on April 7th, 2011 Motion sensor described in the U.S. Patent Publication No. 2011/0082393 (it is incorporated herein by reference) of disclosed Bort, It uses piezoelectric transducer to detect the deformation of the orthoses as caused by movements of parts of the body.Other kinds of sensor 1262 (it is incorporated by reference into U.S. Patent Publication No. 2001/0020143 including the Stark as disclosed on September 6th, 2001 et al. Accelerometer, deformeter and pressure gauge described in herein)；The United States Patent (USP) 5 of the Gross as disclosed on October 27th, 1998, Power and pressure sensor discussed in 827,209 (it is incorporated herein by reference).

The detection of gait is executed based on the signal from accelerometer, for example, such as Derawi et al., " Improved Cycle Detection for Accelerometer Based Gait Authentication, " the 6th intelligence letter of IEEE Breath is hidden and multi-media signal handles international conference, 15-17 days, the 312-317 pages in October, 2010；Sabelman et al., " Accelerometric Activity Identification for Remote Assessment of Quality of The minutes of Movement ", IEEE EMBS the 26th boundary year international conference, San Francisco, State of California, US, 2005 September 1-5 days, the 4781-4784 pages；Rong et al., " A Wearable Acceleration Sensor System for Gait Recognition ", Second IEEE industrial electronics in 2007 with apply meeting, 23-25 days in May, 2007,2654- Page 2659；And Sekine et al., " Discrimination of Walking Patterns Using Wavelet-Based Fractal Analysis ", IEEE nervous system and rehabilitation project journal, volume 10, the 3rd phase, in September, 2002,188-196 Described in page (its each by be incorporated herein by reference).Body supporting element may include other kinds of sensor, including but not Be limited to gyro sensor (for example, be used to indicate the inclination of subject or lean to), magnetometer (its provide angle information, or Can be used together with external field coil both to provide position, angle is also provided) and differential position sensor (using GPS or puppet GPS signal).Torso support can include but is not limited to one or more sensors.

It is suitable for the remote equipment that active torso support is used in combination may include other kinds of sensor, and It can be located at the position in environment or on the body of subject far from active torso support.In one aspect, active body Dry support arm can receive information from the multiple remote equipments for including sensor.Remote equipment in the environment of subject may include Sensor on stair or floor.For example, Figure 13 depict be configured to include electric resistance sensor grid cushion remotely set It is standby, the information about gait parameter (such as stride length and stride rhythm) can be sensed.In one aspect, as begged for herein Various types of distance sensors of opinion are (for example, accelerometer, gyroscope, inclinator, magnetometer, position sensor, power sense Device, pressure sensor, motion sensor, proximity sensor) can be attached to or positioned at what is carried by subject, be connected to by On the body of examination person, or the article that physics interacts otherwise is carried out with the body of subject, wherein distance sensor mentions For assigning the movement of the article of article or the information of position about subject, and therefore provide the movement or appearance about subject The information of gesture.For example, these articles include but is not limited to sports equipment, for example, baseball bat, tennis racket, skis, tableware (such as Spoon or fork), grooming tool (such as comb or toothbrush) and musical instrument and relative article (such as rouse stick, violin and/or Bow, trombone trombone slide).

On the other hand, active torso support can be operatively coupled to the long-range dress being located on subject's body It sets, and including at least one sensor, the sensor includes but is not limited to gyroscope (for example, to indicate inclining for subject Tiltedly or lean to), force snesor, pressure sensor, accelerometer (it can be three axis accelerometer or integrating accelerometer), magnetic Power meter (it can be used for providing angle information, or can be used together with external field coil to provide position and angle) or differential bit Set sensor (using GPS or pseudo gps signal).For example, the accelerometer being located on body parts can be used for providing instruction The signal of the gait of subject, including leg is (see, e.g. Torrealba et al., " Statistics-based technique For automated detection of gait events from accelerometer signals ", electronics flash report, 2010 October 28, volume 46, the 22nd phase；And Itoh et al., " Development of New Instrument for Evaluating Leg Motions Using Acceleration Sensors ", Environmental Health and preventive medicine 12,111- In May, 118,2007, each by being incorporated herein by reference), leg and/or arm (referring to Mannini et al., " Accelerometry-Based Classification of Human Activities Using Markov Modeling ", computational intelligence and Neuscience, are delivered volume 2011 for article ID on September 4th, 647858,2011 online, are led to Cross and be incorporated herein by reference) and/or head (referring to Sabelman et al., " Accelerometric Activity The 26th boundary Identification for Remote Assessment of Quality of Movement ", IEEE EMBS The minutes of annual international conference, San Francisco, State of California, US, in September, 2005 1-5 days, the 4781-4784 pages, Be incorporated herein by reference) on accelerometer.

In one aspect, torso support includes being suitable for sensing neururgic neural activity sensor.On the other hand, Torso support includes the muscular activity sensors suitable for sensing muscle activity.Electromagnetic sensor is (for example, the electromagnetism in Fig. 4 changes Can device 412) it can be used for sensing by nerve, neuropile or other neuromechanisms or by muscle (including cardiac muscle or the bone below skin Bone flesh) generate electrical activity, for example, Tan such as on May 1st, 2012 disclosed in et al. U.S. Patent number 8,170,656 (its lead to Cross and be incorporated herein by reference) described in.It can for example be sensed by magnetometer by the magnetic field that nervous activity generates, for example, such as The Magnetoencephalography with a chip-scale atomic magnetometer of Sander et al. (Biomedical Optics Express, in May, 2012, volume 3, the 5th phase, page 982；It is incorporated herein by reference) Described in.The nervous activity sensed can provide the information of the gait about subject, or about the pain of subject or its The information that he feels.The muscle activity sensed can provide the information for example about gait or muscular fatigue.

In one aspect, remote sensor system 1204 includes remote signal processing circuit 1250, is configured to handle The posture for indicating subject or movable input 1222 are to generate the posture of specified subject or the active signal of activity 1252 1212a.At least one transmitter 1224 is suitable for emitting the posture for specifying subject or movable active signal 1212a, and extremely A few receiver 1210 be suitable for receiving by least one sensor system senses far from torso support to specify it is tested The posture of person or at least one active signal 1212a of activity 1252.Control circuit 1214 is configured to be based at least partially on Apply element 1206a- by the posture or activity of at least one active signal 1212a subject specified to control at least one power The actuating of 1206c.For example, input 1222 may include the posture or movable information of indication signal.

In one aspect, remote sensor system 1204 includes remote signal processing circuit 1250, is configured to handle Indicate subject posture or movable input 1222 with generate the specified posture corresponding to subject or it is movable at least one The active signal 1212b of instruction 1254.At least one transmitter 1224 is suitable for sending the activity for specifying at least one instruction 1254 Signal 1212b, wherein at least one receiver 1210 are suitable for receiving at least one the activity letter for specifying at least one instruction 1254 Number 1212b.Control circuit 1214 is configured to be based at least partially at least one instruction 1254 and applies to control at least one power The actuating of Canadian dollar part 1206a-1206c.It on the other hand, can be by least one the received activity of at least one receiver 1210 Signal 1212b has been processed with the specified posture corresponding to subject or at least one movable instruction 1254, wherein controlling Circuit 1214 is configured to control the cause that at least one power applies element 1206a-1206c based at least one instruction 1254 It is dynamic.

The example of various substitution signals processing approach as the description of property generally above, input 1222 may include for example coming It is from pressure sensor from the signal (for example, as shown in Figures 10 and 11) of the pressure sensor on chair cushion or handrail The analog voltage signal for being carried to transmitter 1224 on the line of 1220c.Analog voltage is encoded into electromagnetic signal (activity Signal 1212), the electromagnetic signal is emitted to the receiver 1210 in trunk support system 1200 from transmitter 1224, wherein can To execute signal processing to signal by signal processing circuit 1230.Alternatively or additionally, pressure sensor 1220c is come from Analog voltage signal be sent to remote signal processing circuit 1250, and the signal can be handled to determine by pressure Signal specified posture or activity.For example, the high-voltage signal of the sensor in seats can indicate to be sitting in chair Subject, and the high-voltage signal of the sensor in armrests can indicate subject prepare be sitting on chair.Therefore, Specified posture or activity 1252 can be, for example, " taking one's seat " or " preparation is sat down ".Therefore, given pose or movable is indicated Active signal 1212a is (for example, active signal 1212a can have the first value or instruction " preparation is sat down " of instruction " taking one's seat " Second value) from transmitter 1224 be emitted to trunk support system 1200 in receiver 1210.Then, 1214 base of control circuit The specified posture or activity 1252 indicated in active signal 1212a controls torso support.As another alternative solution, remotely Signal processing circuit 1250 can handle the signal from pressure sensor 1220c with specified posture or work corresponding to subject Dynamic instruction 1254.For example, instruction can activate torso support to provide additional branch if subject is ready for sitting down Support, or if subject takes one's seat already, instruction can deactivate torso support and (or maintain torso support deactivated State).Therefore, active signal 1212b may include and the posture of subject detected or activity (are such as handled by remote signal What circuit 1250 determined) corresponding designated order (" activation torso support ", " deactivated torso support ").

In one aspect, control circuit (for example, control circuit 1214 or control circuit 406 in Fig. 4) includes actuating electricity Road (it is not specifically illustrated, but the subsystem of control circuit), the actuation circuit is configured in response to changing for subject's gait Become and controls the actuating that at least one power applies element.For example, actuation circuit may be configured to the speed control according to gait The actuating of at least one power application element.In one aspect, actuation circuit is configured to control at least one power application element Actuating, to provide additional support to the trunk of subject in response to the variation for detecting the gait of subject.In another party Face, actuation circuit is configured to control the actuating that at least one power applies element, with the gait in response to detecting subject Change and less support is provided to the trunk of subject.

In one aspect, control circuit includes that gait analysis circuit is (again, not specifically illustrated, but the son of control circuit System), the change for the gaits such as the gait analysis circuit is configured to detect the walking of subject, runs, goes upstairs or go downstairs Change, or from these or other movable gait to the variation to stand still.For example, Mannini et al. is described to from wearing It is worn over the processing of the signal of the accelerometer on hip, wrist, arm, ankle and the thigh of subject, to distinguish various activities, Including walking, running, standing and stair climbing (referring to Mannini et al., " Accelerometry-Based Classification of Human Activities Using Markov Modeling ", computational intelligence and Neuscience, It volume 2011, delivers online within article ID on September 4th, 647858,2011；And Sekine et al., " Discrimination of Walking Patterns Using Wavelet-Based Fractal Analysis ", IEEE nervous system and rehabilitation project Journal, volume 10, the 3rd phase, in September, 2002, the 188-196 pages, each by being incorporated herein by reference.) gait analysis circuit Can be configured to detection instruction, subject trips, subject falls down or changes the variation of the gait of nyctitropic subject.Carry out self-alignment It can be used for distinguishing walking in the data of the accelerometer of subject's buttocks, turn, go upstairs or go downstairs, such as Sabelman et al. (" the Accelerometric Activity Identification for Remote Assessment of Quality The minutes of of Movement ", IEEE EMBS the 26th boundary year international conference, San Francisco, State of California, US, In September, 2005 1-5 days, the 4781-4784 pages), it is incorporated herein by reference.

In one aspect, active torso support or other wearable items include inclinometer, and the inclinometer is suitable for producing The tilt signals of at least part of gradient of raw instruction subject's body.For example, MEMS type digital incliometer (for example, Analog Devices ADIS 16209), it can be used to the gradient for detecting subject's trunk.Other suitable sensors Example is gyro sensor, magnetometer and differential position sensor.Inclinometer can be applied in combination with other sensors, to mention For indicating the information of various angle positions about subject's limbs or backbone of subject's gait, and can also provide Information about the gait disturbance including tilting, waving or fall down.Related to this, gait analysis circuit may be configured to It is based at least partially on the signal that tilt signals generate the gait of instruction subject.Similarly, actuation circuit may be configured to Tilt signals are based at least partially in response to indicating that the signal of the gait of subject applies element to control at least one power Actuating.

In one aspect, control circuit 1214 is configured to be based at least partially on the time being stored in memory 1242 Mode 1246c come control at least one power apply element 1206a-1206c actuating.It can be as according to time mode control actuating Apply constant force up to specific duration (for example, corresponding to the expected duration of special exercise in selected position Duration, such as a part of gait cycle) it is equally simple, or such as apply one kind and progressively increase to maximum value and and time The power having functional relation is equally simple.

In one aspect, control circuit 1214 be configured to be based at least partially at least one active signal (1212, 1212a or 1212b) come start at least one power apply element 1206a-1206c actuating.On the other hand, control circuit 1214, which are configured to be based at least partially at least one active signal (1212,1212a or 1212b), stops at least one power and applies The actuating of Canadian dollar part.

In some respects, control circuit 1214 be configured to according to can from multiple preassigned patterns (for example, from be stored in storage Multiple preassigned pattern 1246d, 1246e and 1246f in device 1242) in select preassigned pattern come control at least one power apply The actuating of element 1206a-1206c.For example, multiple preassigned patterns may include and multiple predetermined gestures of subject or activity (including but not limited to stand, sit, lying, walking, standing up, sit down, lean forward, reverse or lie down) corresponding mode.It can be with more Kind mode selects preassigned pattern from multiple preassigned patterns.For example, torso support may include user input equipment 1270, and And preassigned pattern can be and can be selected from multiple preassigned patterns based on received input of user input equipment.Alternatively or separately Other places, preassigned pattern, which can be, can be based at least partially at least one active signal (1212,1212a or 1212b) from multiple It is selected in preassigned pattern.

In one aspect, torso support include at least two spatially separated power apply element 1206a-1206c, respectively From the part for the trunk for being suitable for exerting a force to subject, spatially separated power applies element and passes through wherein at least two At least one setting element 1208 is located at the different positions of the trunk relative to subject.In one aspect, control electricity Road 1214 is configured to be based at least partially on time mode 1246c to control the power that at least two are spatially separated and apply element Actuating.Additionally or alternatively scheme, control circuit 1214 are configured to be based at least partially on spatial model 1246g to control The power that system at least two is spatially separated applies the actuating of element.For example, spatial model 1246g offer is spatially separated several Position at applied force it is (or larger with several different muscle of load during being supported on given pose, gait or activity or compression The different piece of muscle).More complicated time or spatiotemporal mode (for example, circulation pattern) can also be used.Circulation pattern can be with With for example, gait cycle matches.Control circuit 1214 may be configured to predetermined according to what can be selected from multiple preassigned patterns Mode come control at least two power apply element 1206a-1206c actuating.Equally, as described above, torso support can wrap Include user input equipment 1270, and can be can be based on the received input of user input equipment 1270 from multiple pre- for preassigned pattern It is selected in mould-fixed 1246d-1246f.Alternatively, or additionally, preassigned pattern, which can be, can be based at least partially at least one What a active signal (1212,1212a or 1212b) selected from multiple preassigned patterns.Multiple preassigned patterns include correspond to by Multiple predetermined gestures of examination person or activity (including standing, sit, lie, walking, stand up, sit down, lean forward, reverse or lie down in one It is a or multiple) mode.

In one aspect, control circuit 1214 is configured to by controlling the power applied by least one power application element Mode come control at least one power apply element actuating.On the other hand, control circuit 1214 be configured to by control by At least one power applies the motor pattern that element generates to control the actuating that at least one power applies element.

In one aspect, active torso support 1202 includes the trunk for being configured to for thermostimulation being transmitted to subject At least part of Spurs stimulus 1280.Spurs stimulus 1280 may include such as resistive element, infrared source, microwave source, sound The energy can provide the other elements of local heating to skin or lower-hierarchy.For example, thermostimulation can apply to stimulate blood Liquid circulation, promotes healing, enhances the comfort level of pain or injured muscles, or as the counterstimulus for mitigating such as feeling of pain.

In one aspect, active torso support 1202 includes being configured to stimulate to be transmitted in the trunk of subject The nerve stimulation source 1282 of neuromechanism.In one aspect, active torso support 1202 includes being configured to that transmitting will be stimulated To the muscle stimulator 1284 of the muscle in the trunk of subject.Nerve stimulator 1282 or muscle stimulator 1284 may include For transmitting the electrode of electro photoluminescence, or one or more coils for transmitting Neural stem cell, for example, any of electrode and coil Kind can be driven by appropriately configured electric control signal as known to persons skilled in the art.(see, e.g., 2012 The United States Patent (USP) 8 of Fahey disclosed in October 9 et al., 285,381, be incorporated herein by reference).Such as those skilled in the art Known to member, other kinds of nerve or muscle stimulator can be used.Nerve and/or muscular irritation can be used for activating muscle with Higher levels of intensity or stability are provided at back, or prevents or resist such as pain signal.

As nerve or muscular irritation is provided to activate the substituted or supplemented scheme of muscle, feedback can be provided to subject Signal is to promote subject automatically to activate muscle.Such feedback signal can take haptic signal (for example, vibration, pressure, Electro photoluminescence) or audio or visual feedback signal form, for example, the United States Patent (USP) of Tan as disclosed on May 1st, 2012 et al. Described in 8,170,656 (it is incorporated herein by reference).In one aspect, one or more tactile elements, which are attached to, wears The setting element that is worn on subject's body is carried by it.On the other hand, tactile element can be provided in is taken by subject In the remote equipment (such as mobile phone) of band.It can be via audio or the visual feedback means (display being integrated in wearable items Device, loudspeaker, buzzer etc.) or be worn on subject's body by being worn on subject's body or being operably connected to Component on calculating/communication system provide audio or visual feedback to subject.

As shown in figure 12, in one aspect, the receiver 1210 in torso support is suitable for from least one remote sensing Device system 1204 receives at least one active signal (1212,1212a, 1212b).One example of this system is in Figure 10 and Figure 11 In show.

On the other hand, as shown in figure 13, the receiver 1300 in torso support 1302 that subject 1304 dresses is suitable In receiving at least one active signal 1306 from network 1308, the network 1308 includes and at least one sensing system 1314 The one or more of communication calculate equipment 1310,1312.In the example in figure 13, remote sensor system 1314 be include resistance Sensor grid 1316 ground cushion (as described in Middleton et al., " A floor sensor system for gait Recognition, " the 4th boundary IEEE automatic identification advanced techniques seminar, 2005, the 171-176 pages, digital object mark Symbol: 10.1109/AUTOID.2005.2 is incorporated herein by reference).Remote sensor system 1314 further includes being configured to The posture of transmitting instruction subject 1304 or the transmitter 1318 of movable active signal 1320.As shown in figure 13, remote sensing Device system 1314 is located at the top of stair 1322, and is activated when subject 1304 passes through it to approach stair 1322.Example Such as, when subject 1304 passes through remote sensor system 1314, the power in torso support 1302 can be activated to apply element 1324, with subject 1304 go downstairs 1322 when additional support is provided.Torso support 1302 can be activated fixed Time quantum, regular time amount corresponds to for example go downstairs 1322 needed for time quantum.

In one aspect, proximity sensor is perimeter sensors, that is, proximity sensor is configured to determine subject Whether periphery is had passed over.The intersection on periphery can indicate the region of the positive direction of subject, to adjust trunk in this region The activation of supporting element.For example, perimeter sensors can be located at top and/or the bottom of stair to determine subject whether close to building Ladder and correspondingly determine the need for activation torso support to be provided when subject goes upstairs or goes downstairs for subject Support.Perimeter sensors may include, for example, being located at the infrared light supply for leading to the side in corridor of stair and the phase positioned at corridor The infrared sensor of opposite side, so that the people for passing through people towards the stair in corridor breaks light beam, so that generation is examined with infrared sensor The signal intensity measured.

Additionally, or as an alternative, network 1308 can be communicated with other remote sensor system 1326.Remotely Sensing system 1326 includes the video camera 1328 being mounted in the environment of subject 1304, and the environment includes being accounted for by subject According to region, be to be depicted as corridor but it is also possible to be such as bedroom, office, vehicle, hospital room, health institution here Room etc..Circuit 1330 associated with remote sensor system 1326 carries out data processing to active signal 1332 and transmits To network 1308.The posture of subject 1304 or activity can be determined for example by image analysis, for example, such as 2 months 2008 The United States Patent (USP) 7,330,566 of Cutler disclosed in 12 days or the United States Patent (USP) 7,728 for disclosing Yang et al. on June 1st, 2010, Described in 839, each by being incorporated herein by reference.Network 1308 includes for respectively from 1314 He of remote sensor system 1326 receive at least one receiver 1340 of active signal 1320 and/or active signal 1332, and are used for active signal 1306 are emitted at least one transmitter 1342 of the receiver 1300 in torso support 1302.Network 1308 includes at least one A calculating equipment 1310, it is described at least one calculate equipment be located locally (for example, in house of subject) but can be with As shown in " cloud " in Figure 13, via internet or other calculate networks and be located locally (for example, calculate equipment 1312) or The calculating equipment of other long-range computing device communications.Data acquisition, place can be executed locally or remotely in network 1308 Reason, analysis and storage.In one aspect, be suitable for will at least one at least one transmitter 1318 in remote sensor system 1314 A active signal 1320 is emitted to the network 1308 including one or more calculating equipment, and in torso support 1302 At least one receiver 1300 be suitable for from network 1308 receive at least one active signal 1306.It can be seen that active signal 1306 are not necessarily signal identical with active signal 1320, although it may include include in active signal 1320 some or Whole identical informations.Signal 1306 can also include additional information, including the information for example from active signal 1332.

Figure 14 A depicts another example of torso support system 1400, wherein torso support 1402 include its be suitable for from The base station 1408 communicated at least one sensing system 1410 receives the receiver 1404 of at least one active signal 1406.Body Heavenly Stems and Earthly Branches support system 1400 is described in form of a block diagram in Figure 14, and shown in Figure 14 B.Torso support 1402 is by subject 1412 wearings, and can be controlled for example, providing support when subject 1412 goes to bed 1414 for the trunk of subject. In one aspect, base station 1408 includes the receiver 1416 for receiving active signal 1418 from remote sensor system 1410. Base station 1408 further includes the transmitter 1420 for active signal 1406 to be emitted to the receiver 1404 that trunk is supported in 1402. In one aspect, the receiver 1416 in base station 1408 also receives active signal 1422 from additional remote sensor system 1424. Although base station 1408 is depicted as including that multiple receivers can be used in other respects in the single receiver 1416 in Figure 14, But not limited to this.Similarly, one or more receivers can according to the number amount and type of the signal transmitted between system unit, Optionally in the various embodiments of system and system unit depicted and described herein.Remote sensor system 1410 wraps At least one sensor 1426 and transmitter 1428 are included, and additional remote sensor system 1424 includes at least one sensor 1430 and transmitter 1432.Remote sensor system 1410 includes the sensor 1426 for being attached to or being integrated in bedside rails 1434, And it is suitable for when subject 1412 applies pressure to bedside rails 1434, detection is it is expected 1414 (as shown in Figure 14B) of going to bed, still Prepare 1414 (not shown) of leaving the bed.Sensor 1426 can detecte variation, stress, strain or the temperature of power, pressure, capacitor or conductance Degree.In other respects, sensor 1426 is placed in the other parts of bedside rails 1434 or bed 1414 or is incorporated therein.It is additional Remote sensor system 1424 (or may be built in other portions of mattress, bedstead or bed 1414 using being placed on bed 1414 In point) pad form, can be used for, for example, detected by sensing the pressure that generates of subject 1412 by lying on pad by Whether examination person 1412 is on bed 1414.In one aspect, remote sensor system 1410 and additional distance sensor system are come from It is to prepare to go to bed 1414, or prepare to leave the bed 1414 that the information of system 1424, which is determined for subject 1412,.It can be used each Other kinds of sensor is planted whether in bed to distinguish subject.The parameter of sensing can include but is not limited to answering in bedstead Change or vibration or temperature.

Figure 15 A be include torso support 1502 and remote sensor system 1504 torso support system 1500 frame Figure, the torso support system 1500 are configured for the use of subject 1506.Torso support system 1500 is more detailed in Figure 15 B Carefully show.Torso support 1502 includes the setting element 1508 for being configured as the vest dressed by subject 1506.Trunk Supporting element 1502 include for receiving the receiver 1510 of active signal 1512, one or more power applies element 1514, and Apply the control circuit 1516 of the actuating of element 1514 for control force.

In remote sensor system 1504, sensor includes the video camera suitable for being used together with computer 1522 1520.Video camera 1520 can be integrated into the IP Camera in monitor 1524, or be individually encapsulated and via wired Or it is wirelessly connected and is connected to the video camera (for example, USB 2.0 or 2.0 video cameras) of computer 1522.This video camera holds very much Easily obtains and be well known in the art.Computer 1522 for example with standard input device (such as keyboard 1526 and Mouse 1528) it is used in combination.Remote sensor system 1504 further includes transmitter 1530, the transmitter 1530 be suitable for transmitting by The posture for the instruction subject 1506 that video camera 1520 and optional receiver 1532 sense or at least one movable activity letter Number.In one aspect, transmitter 1530 and receiver 1532 (if you are using) can be encapsulated in shell 1534.Shell 1534 as shown in fig. 15b, by wired connection, or by wireless connection can be connected to computer 1522 and distance sensor The other component of system 1504.As discussed elsewhere herein, receiver 1532 can be used for realizing remote sensor system Two-way communication between 1504 and torso support 1502.Remote sensor system 1504 further includes circuit 1536, the circuit 1536 can execute the processing to the signal for example generated by video camera 1520.The trunk support system described in Figure 15 A and Figure 15 B System 1500 is configured to be carried out on computer 1522 simultaneously on the chair 1538 for being sitting in 1540 side of desk by subject 1506 It is used during work activities.It (is not limited to use in although computer 1522 is suitable for being used in a usual manner by subject 1506 Word processing, computer programming etc.), computer 1522 can also form the component of remote sensor system 1504, and can be with Software 1540 and/or hardware 1542 comprising forming a part of the circuit 1536 of remote sensor system 1504, such as Figure 15 A institute Show.Alternately or in addition, some or all of circuit 1536 can be encapsulated in shell 1534.

Software 1540 and hardware 1542 may include for determining subject's according to from the image that video camera 1520 obtains The image processing hardware and/or software of activity or posture.Such image processing hardware and/or software can for example including or it is raw At the model of the background of image, segmented image identifies the subject in image, and analyzes image for example, based on such as trunk The parameter of the angle of angle or shoulder relative to buttocks relative to buttocks etc, determines the activity or posture of subject.Processing Image is to determine that position or posture relevant information can be with for example, the U.S. of Liau as disclosed on November 10th, 2009 et al. be special 12 days 2 months 8,396,283, the 2008 years public affairs of United States Patent (USP) of Iihoshi disclosed in sharp on March 12nd, 7,616,779,2013 et al. The United States Patent (USP) 7,728,839 of Yang disclosed in United States Patent (USP) on June 1st, 7,330,566 or 2010 of the Cutler opened et al. Described in.If it is determined that the position of subject 1506 or posture be the expected position that will lead to damage or discomfort or posture (for example, Article is fallen by what processing was detected as picking up from floor with the image that video camera 1520 obtains such as pencil 1550 etc And the bending and twist motion done), just trunk support is activated in a manner of being expected to prevent or reduce to the greatest extent this damage or discomfort Power on part 1502 applies element 1514.In conjunction with as described in Figure 12, active signal 1512 may include the appearance of instruction subject Gesture or movable information perhaps can specify posture or activity or the posture or activity corresponding to subject in some respects Instruction.

Figure 16 shows the embodiment of torso support system 1600, and the torso support system 1600 includes trunk support Part 1602 and remote sensor system 1604, wherein sensor includes at least one video camera being adapted to mount in automobile 1608 1606.Video camera 1606 is instrument recording camera or similar video camera towards driver.Torso support 1602 is by tested Person 1610 dresses.Torso support 1602 is similar to the torso support described in conjunction with Fig. 1 and Figure 11, and including receiver 1612, control circuit (not shown) and power apply element 1614.Remote sensor system 1604 includes remote signal processing circuit 1616 and transmitter 1618.In addition, remote sensor system 1604 includes that door opens sensor 1620 and door handle sensor 1622。

For the people with lower back portion slight illness, vehicles passing in and out may be difficult.It can suggest the people Micromotion is separating twisting action and muscle strength body is raised and lowered.For example, can be indicated to enter automobile Subject 1610 is by holding door handle 1624, with his arm, and supports with his both legs his body wt, and Buttocks and shoulder alignment are kept, while the body for reducing him enters automotive seat.Then, it sits in subject 1610 into automotive seat In after, indicate that he is rotating his body, keep buttocks and shoulder that his both legs are swung to automobile while alignment again In 1608.

Therefore, the signal from door handle sensor 1622 indicates that subject 1610 enters automobile 1608, with subject A part of 1610 body wt passes to automobile via his arm, and the signal is applied at him to door handle sensor 1622 It is generated when plus-pressure.It is substantially opposite for leaving the process of automobile；Subject 1610 is rotating his body, keep buttocks and By his both legs, outlet swing comes from automobile 1608 while shoulder is aligned, and then stands up, and applies to door handle sensor 1622 Pressure, while being stood up using arm and leg muscle.It is to open car door before entering and leaving automobile；Therefore, a side Face, back will need additional during will occurring one by the opening instruction that door opens the car door that sensor 1620 detects The activity of support.Door opening sensor is conventional in modern automobiles.

Although the activity that door is opened on sensor 1620 can will enter with assignor or leave automobile, can pass through Determine that people is sitting in automotive seat (in this case, door, which opens instruction the people, will leave automobile), again without being sitting in vapour (in this case, open the door indicate the people will enter automobile) distinguishes this two activities in vehicle seats.In automobile 1608 The position/orientation of the presence of subject 1610 and subject 1610 can the Iihoshi as disclosed on March 12nd, 2013 et al. United States Patent (USP) 7,396,283 (it is incorporated herein by reference) described in detected.By remote signal processing circuit 1616 The processing to the signal for opening sensor 1620, video camera 1606 and door handle sensor 1622 from door is executed, such as with true Determine the posture and activity of subject 1610, and posture or active signal are emitted to by torso support by transmitter 1618 Receiver 1612 in 1602.Torso support 1602 works as described above, may deleteriously make subject back negative During torsion, seat and the standing of lotus move, according to the specific needs 1610 of subject, the back for subject 1610 provides branch Support.It should be appreciated that remote signal processing circuit 1616 can be with the circuit of automobile 1608 and/or the section communication of computer system Or the part of the circuit and/or computer system including automobile 1608, so as to from the sensor (example being built in automobile 1608 Such as, door opens sensor 1620) data and (optionally) are received to be total to by using appropriately configured hardware and software Enjoy processing.

In general, those skilled in the art will appreciate that various embodiments described herein can be by various types of Circuit individually and/or jointly realizes that the circuit has electric component in extensive range, such as hardware, software, firmware And/or their almost any combination, it is limited to the patentability theme according to 35U.S.C. § 101.Circuit in Fig. 4 (for example, describe Control circuit 406 and circuit 444 and Figure 12 in the control circuit 1214 described and remote signal processing circuit 1250, with And other circuits) include the circuit at least one discrete circuit, the circuit at least one integrated circuit, have at least The circuit of one specific integrated circuit forms the universal computing device configured by computer program (for example, by least partly real The general purpose computer of the computer program configuration of existing approach described herein and/or equipment, or by least partly realizing this The microprocessor of the computer program configuration of method and/or equipment described in text) circuit, form storage equipment [for example, each The memory (for example, random access memory, flash memory, read-only memory etc.) of kind of form] circuit, form communication equipment (example Such as, modem, communication switchboard, optoelectronic device etc.) circuit, and/or non-electric system similar therewith, such as optical Or other similar systems (for example, circuit based on graphene).In a general sense, those skilled in the art also will appreciate that It arrives, it is described herein individually and/or to be total to by hardware in extensive range, software, firmware and/or their any combination The various aspects realized together can be considered as being made of various types of " circuits ".

It will be appreciated by those skilled in the art that at least part of equipment described herein and/or method can be integrated Into data processing system.It will be appreciated by those skilled in the art that data processing system generally comprise one in lower list or It is multinomial: system unit housing, video display apparatus, the memory of such as volatibility or nonvolatile memory etc, such as micro- Processor, the computational entity of such as operating system etc, driver, graphical user of processor or digital signal processor etc Interface and application program, one or more interactive devices (for example, touch tablet, touch sensitive screen, antenna etc.), and/or including feedback Circuit and control motor are (for example, be used for the feedback of sensing the feedback of position and/or speed, for moving and/or adjusting component and/or number The control motor of amount) control system.Data processing system using such as those usually in data calculating communication and/or net The suitable commercially available component found in network calculating/communication system is realized.

Figure 17 depicts a kind of method 1700 for controlling torso support.Method 1700 is included at 1702, with trunk branch Receiver in support member receives the posture for indicating the subject of wearing torso support or at least one movable active signal, In the instruction of at least one active signal posture or activity of the subject that are sensed by the sensing system far from torso support； And at 1704, at least one active signal is based at least partially on to control at least one power in torso support and apply The actuating of element is to exert a force to the part of the trunk of subject.Here and elsewhere, around the reality of method and step Line indicates the basic sides of the method, and dotted line instruction may include in some but not all implementations of the method Optional or alternative steps.

In terms of other methods as shown in figure 18.Here and elsewhere, step 1702 and 1704 is as described in conjunction with fig. 17.? On one side, method 1800 includes receiving at least one active signal from sensing system as shown in 1802.This method It can for example be executed using system as shown in figure 11.On the other hand, a kind of method include as shown in 1804, from The base station of sensing system communication receives at least one active signal.This method can for example utilize system as shown in figure 14 To execute.On the other hand, a kind of method includes as shown in 1806, from including the one or more communicated with sensing system The network for calculating equipment receives at least one active signal.This method can for example be held using system as shown in fig. 13 that Row.As shown in figure 18, in one aspect, it receives at least one active signal and is included in reception wireless signal at 1808, for example, can To be to receive electromagnetic signal 1810, reception radiofrequency signal 1812, reception optical signal 1814, reception infrared signal 1816, or receive Acoustic signal 1818.Receiving at least one active signal may include receiving vision signal 1820 (for example, the view from video camera Frequency signal), the signal 1822 of instruction image is received (for example, picture signal, the picture signal of processing or its comprising image data Other of his signal or image expression), the signal 1824 of instruction pressure is received, the signal 1826 of instruction movement is received or receives and refer to Show the signal 1828 of the degree of approach of subject and position.For example, the method may include as shown in 1830, based at least The intensity of one active signal determines the degree of approach of subject Yu the position.

Figure 19 depicts other aspects of the method for Figure 17.In one aspect, method 1900 include as shown in 1902, Determine that subject is present on chair or seat based at least one active signal, wherein receiving at least one active signal and including It receives instruction subject and is present in the signal on chair or seat.In all fields, from a part for being located at chair or seat Interior or pressure sensor thereon, force snesor, temperature sensor, motion sensor or vibrating sensor signal can be used to examine Subject is surveyed whether on chair or seat.For example, the sensor 1020c in Figure 10 and Figure 11 generates instruction subject in chair Existing signal in son 1106.Method 1900 can also be included at 1904, be determined based at least one active signal tested Person prepares to lean forward to sit and still prepares to stand up from seat into chair, wherein receive at least one active signal include receive instruction by The signal of movement, power or pressure that subject generates.Referring again to embodiment shown in Figure 10 and Figure 11, chair 1106 Sensor 1020a and 1020b on handrail can (this instruction subject prepares from chair 1106 being pressed by subject Body) when be activated.In other respects, in system shown in figure 15, video camera 1520 can be used for obtaining the figure of subject 1506 Picture, can analyze described image with determine subject 1506 whether there is in chair 1538 and/or subject 1506 whether just It leans forward or makes other instructions and prepare the movement stood up from chair 1538.

On the other hand, method 1900 as shown in Figure 19 includes as shown in 1906, based at least one activity Signal determines that subject is present on bed, wherein receiving at least one active signal includes receiving instruction subject to be present in bed On signal.For example, from a part of interior or pressure sensor thereon, force snesor, temperature sensor, the movement that are located at bed Whether in bed the signal of sensor or vibrating sensor can be used to detect subject.In addition, method 1900 may include as Shown in 1908, determine that subject prepares to sit up or stand up from the bed based at least one active signal, wherein receiving at least One active signal includes the signal for receiving movement, power or pressure that instruction is generated by subject.For example, when subject wish from When sitting up or stand up on bed, subject can catch bedside rails 1434 (as shown in figure 14), or be manually placed at bedside for his or her To help to support his or her body and mitigate the strain on his or her back.It therefore, can be by from positioned at bedside rails, bed Head plate, bedside edge or subject prepare sit up or stand up from the bed when and/or during this period by other portions of the bed of load The signal designation subject of interior or power thereon, pressure sensor, motion sensor or vibrating sensor is divided to prepare to sit up or rise Body.

As shown in figure 20, in one aspect, method 2000 includes being based at least one active signal as shown in 2002 The degree of approach of subject and bed are determined, wherein receiving at least one active signal includes receive instruction subject and bed close At least one signal of degree.In addition, determining that subject prepares based at least one active signal the method includes at 2004 Sit down or lie down in bed, wherein receive at least one active signal include receive movement, power that instruction generates by subject or The signal of pressure.

Alternately or in addition, method 2000 includes being determined as shown in 2006 based at least one active signal The degree of approach of subject and chair or seat, wherein receive at least one active signal include receive instruction subject and chair or At least one signal of the degree of approach at seat.In addition, method 2000 may include as shown in 2008, based at least one work Dynamic signal determines that subject prepares to stand up from chair or seat, wherein receiving at least one active signal includes receiving instruction At least one active signal of the movement, power or pressure that are generated by subject.

On the other hand, receiving at least one active signal includes receiving instruction subject as shown in 2010 and passing through At least one signal on periphery.For example, method 2000 may include 2012: from sensor associated with stair receive instruction by Examination person passes through at least one signal on periphery, for example, as shown in figure 13.

As shown in figure 21, in one aspect, method 2100 is included at 2102, handles at least one active signal with determination The posture or activity of subject.Then method 2100 may include being based at least partially on identified as shown in 2104 The posture of subject or the movable actuating to control at least one power application element.For example, can be obtained in conjunction with as described in Figure 12 Posture determined by obtaining or activity.

On the other hand, as shown in figure 22, in correlation technique 2200, as shown in 2202, at least one work is received Dynamic signal includes the active signal for receiving processing, wherein the active signal handled has been handled the posture to specify subject Or activity.Related to this, method 2200 includes being based at least partially on and being specified by the active signal handled as shown in 2204 Subject posture or activity come control at least one power apply element actuating.

In the another aspect of method 2200, as shown in 2206, receiving at least one active signal includes reception processing Active signal, wherein the active signal handled handled with the specified posture corresponding to subject or it is movable at least One instruction.Related to this, method includes being based at least partially at least one instruction as shown in 2208 to control at least One power applies the actuating of element.The posture of subject or the activity letter of movable processing are specified in use as described in conjunction with Figure 12 Number, or instruction corresponding with the posture of subject or activity.

It yet still another aspect, method 2200 is included at 2210, the signal of the identity of instruction subject is received, and 2212 Place, the identity for being then based at least partially on subject controls the actuating that at least one power applies element, in conjunction with as described in Figure 12.

In all fields, method 2200 includes controlling at least one power at 2214 to apply the actuating of element with by compressing force It is applied to the skin of subject；Apply stretching or shearing force to the skin of subject at 2216, at least one is controlled at 2218 A power applies the rigidity of element, the size that at least one power applies element is controlled at 2220, or control at least at 2222 One power applies the position of element.

Figure 23 shows method 2300 comprising is related to applying the actuating of element according at least one power of each scheme control Various aspects.In one aspect, method 2300 includes being based at least partially on time mode as shown in 2302 to control at least One power applies the actuating of element.In one aspect, method 2300 is included at 2304, is based at least partially on spatial model Control the actuating that at least one power applies element.It should be appreciated that power and movement can be it is relevant, this depend on torso support With the mechanical performance of the body part of the stress of subject, but either power is still moved that (or the parameter being derived from) all may be used To measure and be used as control parameter.

In one aspect, method 2300 includes as shown in 2306, according to the pre- cover half selected from multiple preassigned patterns Formula come control at least one power apply element actuating.Method 2300 may include setting as shown in 2308 from user's input Standby receive inputs and selects preassigned pattern from multiple preassigned patterns based on input；As shown in 2310, at least partly ground Preassigned pattern is selected from multiple preassigned patterns at least one active signal；Or combinations thereof.It is multiple pre- as shown in 2312 Mould-fixed may include the multiple predetermined gestures or movable mode corresponding to subject；It is the multiple as shown in 2314 Predetermined gesture or activity may include one in for example standing, sit, lying, walking, standing up, sit down, lean forward, reverse or lie down or It is multiple.

Controlling at least one power to apply the actuating of element may include as shown in 2316, and control is applied by least one power The mode for the power that Canadian dollar part applies, or as shown in 2318, control is applied the movement mould that element generates by least one power Formula.

On the other hand, as shown in figure 24, method 2400 includes controlling in torso support extremely as shown in 2402 The power separated in few two spaces applies the actuating of element, and each power applies trunk of the element suitable for exerting a force to subject Part.For example, method 2400 may include being based at least partially on time mode as shown in 2404 to control at least The power separated in two spaces applies the actuating of element；Or as shown in 2406, it is based at least partially on spatial model The power that control at least two is spatially separated applies the actuating of element；Or both.In one aspect, method 2400 includes such as 2408 Shown in, the actuating that at least two power apply element is controlled according to the preassigned pattern that can be selected from multiple preassigned patterns. It can be usually for example, being controlled as described in conjunction with Figure 23 according to preassigned pattern activates.

In other respects, method 2400 includes that caloric stimulator is controlled at 2410 so that thermostimulation to be transmitted to the body of subject Dry at least part controls the nerve node in the trunk that nerve stimulation is transmitted to subject by nerve stimulator at 2412 Structure, and/or at 2414 control muscle stimulator with transmit stimulation with activate subject trunk in muscle.

In various embodiments, method as described herein can be according to can realize in hardware, software and/or firmware Instruction execute.These instructions can store in such as non-transitory machine-readable data storage media.Art technology Personnel are, it will be recognized that the state of the art has developed to such a degree: hardware, the software of many aspects of system And/or almost without difference between firmware implementation；The use of hardware, software and/or firmware be usually (but not always, because For in certain situations, the selection between hardware and software can become significant) representative cost and benefit tradeoff design select It selects.It will be appreciated by those skilled in the art that in the presence of can be realized approach described herein and/or system and/or other technologies A variety of implementations (for example, hardware, software and/or firmware), and preferred implementation can according to deployment the method and/ Or system and/or other technologies situation and become.For example, if implementer determines that speed and accuracy is most important, reality The predominantly implementation of hardware and/or firmware may be selected in the person of applying；Alternatively, if flexibility is most important, implementer The implementation of predominantly software may be selected；Alternatively, again alternatively, one or more machines, substance combination may be selected in implementer Certain combination of hardware, software and/or firmware in object and product, is limited to the patentability theme according to 35 § USC 101.Therefore, In the presence of the several possible implementation that can be realized approach described herein and/or equipment and/or other technologies, wherein not having There is a kind of implementation to be inherently better than other implementations because it is to be used it is any be achieved in that according to dispose the reality The situation of existing mode and the selection of implementer focused particularly on depending on point (for example, speed, flexibility or predictability), and its In any one may all change.It will be appreciated by those skilled in the art that the optics aspect of implementation can generally use Hardware, software and/or the firmware of optics aspect.

In some implementations described herein, logic and similar implementation may include being adapted for carrying out operation Software or other control structures.It is constructed and arranged for example, electronic circuit can have to realize various function described herein One or more current paths of energy.In some implementations, one or more media may be configured to protect in this medium Holding or transmitting can run with load bearing equipment detectable implementation when instruction detectable by the equipment of execution described herein.One In a little change case, for example, implementation may include for the update to existing software or firmware or gate array or programmable hardware Or modification, such as by execute with it is described herein one or more operate it is relevant one or more instruct receive or send. Alternately or in addition, in some change case, implementation may include dedicated hardware, software, fastener components and/or execution Or otherwise call the general purpose module of personal module.

Implementation may include executing special instruction sequence or calling for enabling, triggering, coordinate, request or with other Mode leads to the circuit of almost any feature operation as described herein occurred one or more times.In some change case, this paper's Operability or the description of other logicalities can be expressed as source code and be compiled as or otherwise call as executable instruction Sequence.In some situations, for example, implementation can wholly or partly by the source code of such as C++ etc or other Code sequence provides.In other implementations, source commercially available and/or technology in this field or other code realization sides are used Formula, which can be compiled ,/realization/translates/is converted to senior descriptor language (for example, initially being retouched with the realization of C or C++ programming language The technology stated, being then converted to programming language implementation can logic synthetic language implementation, hardware description language realization Mode, hardware design the Realization of Simulation mode and/or other such expression patterns).For example, some or all of logical table Verilog type hardware description can be shown as [for example, passing through hardware description up to (for example, computer programming language implementation) Language (HDL) and/or Very High Speed IC Hardware descriptor language (VHDL)] or can be used for creating the object with hardware later Manage other circuit models (for example, specific integrated circuit) of implementation.In view of these introductions, those skilled in the art be would appreciate that How to obtain, configure and optimize suitable transmission or computing element, material supply, actuator or other structures.

The detailed description of front elaborates the various realities of equipment and/or method by using block diagram, flow chart and/or example Apply mode.In the case where such block diagram, flow chart and/or example include one or more functions and/or operation, this field Technical staff is it will be appreciated that each function in such block diagram, flow chart or example and/or operation can be by extensive range hard Part, software, firmware and/or their almost any combination (being limited to the patentability theme according to 35U.S.C. § 101) are individually And/or it jointly realizes.In one embodiment, if the stem portion of theme described herein can pass through specific integrated circuit (ASIC), field programmable gate array (FPGA), digital signal processor (DSP) or other integrated formats are realized.However, It will be appreciated by those skilled in the art that some aspects of embodiments disclosed herein entirely or partly can equally collect At in circuit as run on one or more computers one or more computer programs (for example, as at one or The one or more programs run in multiple computer systems), as one or more run on the one or more processors A program (for example, as the one or more programs run in one or more microprocessors), as firmware or as it The almost any combination patentability theme of 35U.S.C. § 101 (be limited to according to) realize, and according to the disclosure, design electricity Road and/or write code for software and/or firmware will be just within the scope of the technical ability of those skilled in the art.In addition, this field Technical staff is not and effective it will be appreciated that the mechanism of theme described herein can distribute as program product in a variety of manners In the signal bearing medium being actually distributed type specifically how, the illustrated embodiment of theme described herein is suitable With.The example of signal bearing medium includes but is not limited to non-transitory machine-readable data storage media, such as recordable type Medium, such as floppy disk, hard disk drive, CD (CD), digital video disc (DVD), digital magnetic tape, computer storage.Signal Bearing medium can also include transmission type media, such as number and/or analogue communication medium [for example, fiber optic cables, waveguide, Wired communications links, wireless communication link (for example, transmitter, receiver, transmission logic, receive logic etc.) and it is all so Class].

Figure 25 depicts product 2500 comprising carries one or more non-transitory machines of one or more instructions 2504 Device readable data storage medium 2502, one or more of instructions 2504 using the receiver in torso support for being connect The posture or at least one movable active signal, wherein at least one activity for receiving the subject of instruction wearing torso support are believed The posture or activity of subject that number instruction is sensed by the sensing system far from torso support；And at least partly ground In at least one active signal come control at least one power in torso support apply element actuating with exert a force to by The part of the trunk of examination person.

The instruction 2504 described in Figure 25 corresponds to method 1700 shown in Figure 17.Describe such as Fig. 9-24 and such as sheet Other modifications of the method for text description can be by using the machine readable number of non-transitory for carrying one or more suitable instructions It is realized according to storage medium.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 900 shown in 9, for example, receiving at least one active signal from sensing system One or more instruction, the one or more for receiving at least one active signal from the base station communicated with sensing system refer to It enables, or for the one or more instruction of lower list: from including one or more calculating equipment communicate with sensing system Network receive at least one active signal, receive vision signal, receive the signal of instruction image, receive the letter of instruction pressure Number, the signal of instruction movement is received, or receive the signal of the degree of approach of instruction subject and position, and/or additionally, based on extremely Lack the intensity of an active signal to determine the degree of approach of subject and position.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 1900 shown in 19.For example, for determined based at least one active signal by Examination person is present in one or more instructions on bed, wherein one or more instruction packets for receiving at least one active signal One or more instructions for receiving the signal that instruction subject is present on bed are included, optionally combination has for based at least One active signal instructs come the one or more for determining that subject prepares to sit up or stand up from the bed, wherein for receiving at least One or more instructions of one active signal include the signal for receiving movement, power or pressure that instruction is generated by subject One or more instructions, and/or for determining that subject is present in chair or seat based at least one active signal One or more instructions, wherein one or more instructions for receiving at least one active signal include for receiving instruction Subject is present in one or more instructions of the signal on chair or seat, and optionally combination has for determining that subject prepares It leans forward to sit into chair or seat and still prepares the one or more instructions stood up from chair or seat, wherein for receiving at least One or more instructions of one active signal include the signal for receiving movement, power or pressure that instruction is generated by subject One or more instructions.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 2000 shown in 20, for example, for being determined based at least one active signal One or more instructions of the degree of approach of subject and bed, wherein the one or more for receiving at least one active signal refers to Order includes that the one or more of the signal for receiving the degree of approach of instruction subject and bed instruct, and optionally combination has for true One or more instructions that subject prepares to sit down or lie down in bed are determined, wherein for receiving at least one active signal One or more instruction includes that the one or more for receiving the signal of movement, power or pressure that instruction is generated by subject refers to It enables；The one or more of at least one active signal for receiving the degree of approach of instruction subject and chair or seat instruct, Optionally combination have one for receiving at least one active signal for indicating the movement, power or the pressure that are generated by subject or Multiple instruction, the movement, power or pressure instruction subject prepare to stand up from chair or seat；And for determining subject One or more instruction across periphery, wherein one or more instructions for receiving at least one active signal include being used for Receive one or more instructions that instruction subject passes through the signal on periphery.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 2100 shown in 21, for example, for handling at least one active signal with determination The posture of subject or movable one or more instructions, and the posture for being based at least partially on identified subject Or activity instructs to control the one or more for the actuating that at least one power applies element.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 2200 shown in 22, for example, for referring to from the reception of at least one sensing system The one or more instructions for determining the posture of subject or the active signal of movable processing, wherein the active signal handled is by extremely A few sensing system handles posture or activity to specify subject, and the machine readable number of one or more non-transitories It is controlled according to storage medium carrying for being based at least partially on posture or activity by the specified subject of the active signal handled Make one or more instructions that at least one power applies the actuating of element.Alternately or in addition, one or more non-transitories Machine-readable data storage media 2502 can carry specified corresponding at least with the posture of subject or activity for receiving The one or more of the active signal of the processing of one instruction instruct, or the signal for receiving the identity for indicating subject One or more instruction, and identity for being based at least partially on subject control the cause that at least one power applies element Dynamic one or more instructions.One or more non-transitory machine-readable data storage medias 2502 can be carried for executing One or more instructions of various additional aspects as shown in figure 22, for example, one or more instructions for following item: control At least one power applies the actuating of element to apply compressing force to the skin of subject, controls the cause that at least one power applies element It moves to apply pulling force or shearing force to the skin of subject, controls at least one power and apply the actuating of element to control at least one Power apply element rigidity, control at least one power apply element actuating with control at least one power apply element size, And it controls at least one power and applies the actuating of element to control the position that at least one power applies element.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 2300 shown in 23, for example, for being based at least partially on time mode to control Make one or more instructions that at least one power applies the actuating of element, controlled for being based at least partially on spatial model to Few power applies one or more instructions of the actuating of element, for applying what element applied by least one power by control The one or more of actuating that the mode of power applies element to control at least one power instruct, or for passing through control by least One power applies the mode for the movement that element generates to control one or more instructions of the actuating of at least one force application element.One A or multiple non-transitory machine-readable data storage medias 2502 can be carried to be selected from multiple preassigned patterns for basis Preassigned pattern control one or more instructions that at least one power applies the actuating of element, may combination have to come for receiving One or more instructions of preassigned pattern are selected from multiple preassigned patterns from the input of user input equipment and based on input, And/or for be based at least partially at least one active signal to select from multiple preassigned patterns one of preassigned pattern or Multiple instruction.As discussed above, multiple preassigned patterns include corresponding to subject multiple predetermined gestures or activity (such as Stand, sit, lying, walking, standing up, sit down or lie down) mode.

In one aspect, one or more carryings of non-transitory machine-readable data storage media 2502 are for executing as schemed One or more instructions of the modification of method 2400 shown in 24, for example, for controlling at least two in torso support The power that is spatially separated applies one or more instructions of the actuating of element, at least two spatially separated power apply in element Each be suitable for exert a force to subject trunk part.For controlling at least two skies in torso support Between upper isolated power apply element actuating it is one or more instruct may include for being based at least partially on time mode, It is based at least partially on spatial model, or controls at least two according to the preassigned pattern that can be selected from multiple preassigned patterns The power being spatially separated applies one or more instructions of the actuating of element.In addition, one or more non-transitories are machine readable Data storage medium can be carried for controlling caloric stimulator so that thermostimulation to be transmitted to at least part of the trunk of subject One or more instructions, for controlling nerve stimulator so that nerve stimulation to be transmitted to the neuromechanism in the trunk of subject One or more instructions, and/or for controlling muscle stimulator to transmit the muscle stimulated in the trunk to activate subject One or more instructions.

The element for the system described in Fig. 1 and Fig. 4 and Figure 10-16 can be combined to form controllable active trunk support system Other modifications of system or other active wearable systems.For example, in one aspect, system include as combine Fig. 1 and Fig. 4 describe and The one or more sensors of description, and as in conjunction with Figure 10-16 describe and described in one or more sensors.It is worn on body Component on dry and the component being worn on other positions of body may include that various types of sensors, power apply member Part, stimulator (for example, heat, nerve or muscle stimulator) and/or feedback device are (for example, haptic device, audio or visual feedback Device).In addition, the component of wearing physically can be operatively attached to the sensor in the environment of subject.

As discussed above, in some respects, system as described herein be operably connected to and including to calculate and/ Or communication network sends signal and receives the ability of signal from calculating and/or communication network.Apply element, stimulation for control force The data processing of device and/or feedback device can be held by the electric control circuit being located in torso support or other wearable items Row, or executed in the Local or Remote part of calculating or communication network.Signal may include from as described herein various The sensing data of any type of sensor are related to gait, posture or movement, muscle or the nervous activity or all of subject Such as the parameter of temperature etc.Sensing data may include original or processing data, or therefrom derived information.

In all fields, processing sensing data to be to assess the gait, posture or movement of subject, for example, with determine gait, Posture or the one or more aspects of movement are " good " or " bad ", and/or determine gait, posture or all or part of movement And desired gait, posture or the deviation of movement.As discussed above, element can be applied with actuation power appropriate, with Just to provide support in response to identified gait, posture or movement for trunk or other physical feelings, or so as to for Improve mode determined by the gait, posture or movement of subject and carrys out constrained motion.In one aspect, muscle or nerve thorn are provided Swash so as to change muscle activation to improve mode determined by the gait, posture or movement of subject.It in one aspect, can be with Feedback is provided to subject based on sensing data, to notify subject to need automatically to correct gait, posture or movement.(when by When examination person energetically executes or participates in gait, posture or movement) feedback can be provided in real time, and take tactile, audio or vision Notice or the form of alarm.In some respects, feedback can be taken about gait, posture or movement or it is corrected or is changed The form (being presented with vision or audio form) of kind assessment or recommendation.Assessment or recommendation can be supplied to subject, and/or replace Dai Di, or additionally, it is supplied to another party, such as provider, physiotherapist, coach, training of human or help Subject's correction or improve gait, posture or movement or the gait to subject, posture or movement it is interested any other Body.Such assessment or recommendation can have the calculating of display and/or loudspeaker/communication system (example via being operably connected Such as, computer, tablet computer, smart phone, amusement equipment) it provides.

In one aspect, will sense data (original or processing data) with indicate gait, posture or the desired value of movement or Target value one or more templates (or on the contrary, indicate gait, posture or movement undesirable or wait avoid one of value or Multiple template) it is compared.This comparison can be based on, such as adding window, threshold process or range measurement are (for example, least square Method).For example, in window, be higher than (or being lower than) threshold value or be considered as " good " away from the value in stencil value distance to a declared goal, and opposite Value is considered as " bad ".In one aspect, the departure with template can also be determined.Stencil value can be based on from subject or from one The selected data that other a or multiple individuals measure.Stencil value can reflect merging (for example, average) value from groups of individuals.? On one side, subject or other users can provide input via user interface to select to indicate gait, posture or movement One or more particular instances of data are as desired gait, posture or the example of movement or template.Control wearable system (such as torso support) in response to the gait sensed, posture or movement to provide muscle/joint support, flesh to subject Meat activation and/or feedback, this can be used in health, medical treatment, treatment or body building environment preventing or reducing as far as possible it is uncomfortable or Damage, or improve the movable performance that wherein gait, posture or movement are of great significance.

Theme described herein is depicted in different other components or is connected not from different other components Same component.It is to be understood that the arrangement described in this way is only exemplary, and can actually implement to realize identical function Many other arrangements.In design meaning, effectively " it is associated with " to realize that any part of identical function is arranged, so that real Existing desired function.Therefore, it combines to realize that any two component of specific function can be considered as being " associated with " each other, makes here Must realize desired function, but regardless of framework or intermediate member how.Similarly, so associated any two component can also be with It is considered as " being operably connected " each other or " being operatively coupled " is to realize desired function, and can so associated What two component can also be considered as " being operatively coupled " each other to realize desired function.Operably coupled specific example The component that including but not limited to can physically match and/or physically interact, and/or can wireless interaction or wireless interaction Component and/or logic interaction and/or can logic interaction component.

In some cases, one or more components are referred to alternatively as " being configured to " herein, " by ... configuration ", it " can It is configured to ", " can operate/be operable to ", " adapt to/be suitable for ", " can ", " be suitble to/being suitable for " etc..Those skilled in the art , it will be recognized that unless the context otherwise requires, otherwise these terms (for example, " being configured to ") generally comprise active state component And/or inactive state component and/or stand-by state component.

Although the particular aspects of described herein theme have been shown and described, for those skilled in the art It is readily apparent that it is based on teaching herein, it can be the case where not departing from theme described herein and its broader aspect Under be changed and modified, therefore, appended claims include all these in the true of theme described herein within its scope Change and modification in real spirit and scope.It will be appreciated by those skilled in the art that in general, herein especially in appended right Term (for example, body in appended claims) used in it is required that is generally intended to as " open " term (for example, art Language " comprising " should be interpreted that " including but not limited to " term " having " should be interpreted " at least having ", term " packet Containing " should be interpreted " including but not limited to ", etc.).Those skilled in the art will further appreciate that, if meaning institute's introducing Claim states the particular number of object, then this intention can be explicitly recited in the claim, and if there is no Such intention is just not present in such record.For example, as the auxiliary to understanding, claims appended below may include The use of introducing phrase such as "at least one" or " one or more " states object with introducing claim.But it is this kind of short The use of language should notIt is interpretedImply the introducing that object is stated by "one" or "an" of indefinite article claim Any specific rights requirement containing this institute's introducing claim statement object is limited to only comprising a this statement pair The invention of elephant, though same claim include introducing phrase " one or more " or "at least one" and such as "one" Or "an" (for example, "one" and/or "an" should be typically interpreted to refer to "at least one" or " one or more ") It is also such when equal indefinite articles；Also same for the use for the definite article of introducing claim statement object. In addition, even if the particular number of institute's introducing claim statement object has been expressly recited, skilled persons will also appreciate that, This record should generally also be interpreted to refer at least documented quantity (for example, only recording " two statement objects " Without other modifiers, at least two statement objects or two or more statement objects are typically referred to).Using such as In the case of the phrase of " at least one of A, B and C etc. " etc, in general, such structure is intended in this field Technical staff can understand the phrase in the sense that (for example, " system at least one of A, B and C " will include but It is not limited to that there is individual A, individual B, individual C, A and B together, A and C together, B and C together, and/ Or the system of A, B and C together etc.).Using those of the phrase of " at least one of A, B and C etc. " etc feelings Under condition, in general, such structure be intended to those skilled in the art and can understand the phrase in the sense that (for example, " tool Have the system of at least one of A, B and C " it will include but is not limited to that there is individual A, individual B, individual C, together The system of A and B, A and C together, B and C together, and/or A, B and C together etc.).Those skilled in the art Will further appreciate that, unless the context indicates otherwise, otherwise actually it is any present two or more alternative terms disjunction Word or phrase all should be understood that considering includes one in term either in specification, claims or attached drawing It is a, a possibility that either one or two term in term.For example, phrase " A or B " will be understood to comprise " A " or " B " or " A And a possibility that B ".

About appended claims, it will be appreciated by those skilled in the art that wherein cited operation usually can be with any Sequence executes.In addition, although various operating processes are sequentially presented, but it is to be understood that various operations can be in addition to shown Sequence except sequence executes, or may be performed simultaneously.Unless the context indicates otherwise, the example that otherwise this substitution sorts May include overlapping, staggeredly, interruptions, rearrangement, increment, preparation, supplement, simultaneously, reversely or other modifications sort.In addition, Unless the context requires otherwise, the otherwise usual unawareness of term of such as " response ", " correlation " or other past tense adjectives etc Excluding these modifications.

The various aspects of theme described herein are listed in the clause of following number:

1. a kind of system, the system comprises:

Wearable items, the wearable items include:

Multiple actuators, each actuator are configured to the part positioning of the body relative to subject；

At least one boundary mark sensor is suitable for sensing the boundary mark in the body for indicating the subject or on the body Position parameter, and generate at least one boundary position signal；And

At least one setting element is suitable for being worn on the body of the subject, and relative to the subject Body position at least one described boundary mark sensor and the multiple actuator, wherein each of the multiple actuator In the known location relative to the wearable items；

At least one activity sensor, at least one described activity sensor are adapted to detect for indicating the appearance of the subject Gesture, gait or movable input, and generate the posture, gait or the movable active signal for indicating the subject；And

Control circuit, the control circuit include:

For receiving the circuit of at least one boundary position signal from least one described boundary mark sensor；

For receiving the circuit of at least one active signal from least one described activity sensor；

Signal processing circuit is used on the body based at least one described boundary position signal and the subject Known location of the target site relative to the boundary mark calculates position of the target site relative to the wearable items；

Signal processing circuit is used to select at least one actuator near the target site；

And

At least one described actuating is controlled for generating for being based at least partially at least one described active signal The circuit of the electric control signal of the actuating of device.

2. according to system described in clause 1, wherein the multiple actuator includes that one or more power apply element.

3. according to system described in clause 1, wherein the multiple actuator includes one or more tactile elements.

4. according to system described in clause 1 comprising by the one or more mind of at least one described setting element carrying Through stimulator, muscle stimulator or Spurs stimulus.

5. according to system described in clause 1, wherein at least one described setting element includes clothes.

6. according to system described in clause 1, wherein at least one described setting element includes belt, belt, waistband, or back Band.

7. according to system described in clause 1, wherein at least one described boundary mark sensor includes electromagnetic transducer, optics biography Sensor, infrared sensor, acoustic sensor, electric transducer, magnetic transducer, ultrasonic transducer, micro-impulse radar sensor or temperature Spend sensor.

8. according to system described in clause 1, wherein at least one described boundary mark sensor is configured to sense muscle activity Or nervous activity.

9. according to system described in clause 1, wherein to be configured to sense instruction following at least one described boundary mark sensor At least one of signal: the intracorporal skeletal structure of the body of the subject, the subject the intracorporal soft tissue of body Structure, the subject body skin surtace vascular system, muscle activity, nervous activity, the skin surface On or below local temperature, the subject skin surface on or below marker or datum mark.

10. according to system described in clause 1, wherein at least one described activity sensor includes at least one power sensing Device, pressure sensor, capacitance sensor, conductivity sensor, strain gauge, strain transducer, video camera, motion sensor, Proximity sensor, perimeter sensors, micro-impulse radar sensor, infrared sensor, optical sensor, electromagnetic sensor, sound Learn sensor, accelerometer, gyroscope, inclinator, magnetometer or position sensor.

11. according to system described in clause 1, wherein for receiving described at least one from least one described boundary mark sensor The circuit of a boundary position signal includes the circuit in the wearable items.

12. according to system described in clause 1, wherein for receiving described at least one from least one described activity sensor The circuit of a active signal includes the receiver for receiving at least one active signal from remote active sensor.

13. according to system described in clause 1, wherein for based at least one described boundary position signal and described tested The known location of the target site relative to the boundary mark on the body of person, calculates the target site relative to institute The signal processing circuit for stating the position of wearable items is configured to determine the position of the target site, wherein the mesh Mark position is located at the position different from the boundary mark.

14. according to system described in clause 1, wherein for based at least one described boundary position signal and described tested The known location of the target site relative to the boundary mark on the body of person, calculate the target site relative to it is described can The signal processing circuit of the position of wearing article is configured to determine the position of the target site, wherein the target portion Position is at same location with the boundary mark.

15. according to system described in clause 14, wherein for based at least one described boundary position signal and it is described by The known location of the target site relative to the boundary mark on the body of examination person, calculates the target site relative to described The signal processing circuit of the position of wearable items is configured to determine the position of the target site, wherein the target Position is the boundary mark.

16. according to system described in clause 1, wherein for selecting near at least one cause described in the target site The signal processing circuit of dynamic device be configured to select to be located at the most short space length away from the target site described in extremely A few actuator.

17. according to system described in clause 1, wherein for selecting near at least one cause described in the target site The signal processing circuit of dynamic device is configured to select to be located at least one at the most short electrical distance away from the target site Actuator.

18. according to system described in clause 1 comprising it can be operatively coupled to the memory of the control circuit, wherein The actuating of at least one actuator is controlled for generating for being based at least partially at least one described active signal The circuit of electric control signal be configured to be based at least partially on storage time mode in the memory to produce The raw electric control signal.

19. according to system described in clause 1 comprising it can be operatively coupled to the memory of the control circuit, wherein The actuating of at least one actuator is controlled for generating for being based at least partially at least one described active signal The circuit of electric control signal be configured to generate for the more of the multiple actuator of room and time scheme control A control signal.

20. according to system described in clause 1, wherein one or more of the multiple actuator is associated with and is adapted to detect for The electric transducer of electromyography signal associated with muscle activity, wherein the electric transducer is at least one described boundary mark sensor At least one of at least one activity sensor.

21. a kind of system, the system comprises:

At least one remote sensor system comprising:

At least one sensor is adapted to detect for the posture or movable input of instruction subject；And

At least one transmitter, be suitable for emitting the posture for indicating the subject or it is movable at least one first Active signal；

Intermediate system comprising:

For receiving at least one receiver of at least one first active signal；And

For emitting at least one transmitter of at least one the second active signal, at least one described second active signal It include the posture or movable at least part information of the subject in first active signal comprising instruction； And

Wearable items comprising:

At least one actuator；

At least one setting element, the trunk for being adapted to the subject position at least one actuator；

At least one receiver is suitable for receiving at least one described second active signal from the intermediate system；And

Control circuit comprising:

For generate for being based at least partially at least one described second active signal control it is described at least one The circuit of the control signal of the actuating of actuator.

22. according to system described in clause 21, wherein the intermediate system includes base station.

23. according to system described in clause 22, wherein the base station is configured to from least one additional remote sensor System receives at least third active signal.

24. according to system described in clause 23, wherein at least one described remote sensor system and it is described at least one At least one of additional remote sensor system include video camera, pressure sensor, motion sensor, proximity sensor, Perimeter sensors, micro-impulse radar sensor, infrared sensor, optical sensor, electromagnetic sensor or acoustic sensor.

25., wherein the intermediate system includes network, the network includes one or more according to system described in clause 21 A calculating equipment.

26. including communication network including one or more networks for calculating equipment according to system described in clause 25.

25. according to system described in clause 25, wherein the wearable items include Spurs stimulus, nerve stimulator and flesh At least one of meat stimulator.

28. a kind of torso support system comprising:

Remote sensor system, the remote sensor system include:

Suitable for liner, patch, plate or the cushion being located in structure；

Be adapted to detect at least one sensor that subject applies the pressure of the structure, the pressure apply instruction by The posture or activity of examination person；And

The posture of the subject or at least one hair of at least one movable active signal are indicated suitable for emitting Emitter；And

Torso support, the torso support include:

At least one power suitable for exerting a force to the part of the trunk of the subject applies element；

At least one of at least one power application element described in the trunk positioning of the subject is adapted to determine Bit unit；

At least one receiver is adapted at least one activity as described in the transmitting of at least one described transmitter Signal and at least one signal detected based at least one sensor as described in the remote sensor system are received Indicate the subject the posture or at least one movable active signal；And

Control circuit comprising:

For generate control signal circuit, the control signal be used for be based at least partially on by it is described at least one connect At least one received described active signal of device is received to control the actuating that at least one described power applies element.

29. system is supported according to trunk described in clause 28, wherein at least one described transmitter is suitable at least one First active signal is emitted to including one or more networks for calculating equipment, and wherein at least one described receiver is suitable for At least one second active signal is received from the networks for including one or more calculating equipment.

30. system is supported according to trunk described in clause 28, wherein at least one described transmitter is suitable at least one First active signal is emitted to base station, and wherein at least one described receiver be suitable for receiving from the base station at least one the Two active signals.

31. system is supported according to trunk described in clause 28, wherein at least one described transmitter is suitable for by described at least One active signal is emitted at least one described receiver, and at least one described receiver be suitable for from it is described at least one At least one active signal described in transmitter receipt.

28. according to torso support system described in clause 28, wherein at least one described liner, patch, plate or cushion are suitable In at least one in vehicle, furniture, bed, chair, floor, door, hinge, latch, doorframe, handrail, handle, stair and supporting rail Kind is used in combination.

33. according to torso support system described in clause 28, wherein the liner, patch, plate or cushion are suitable for passing through weight One of power, friction, adhesive or fastener or a variety of appropriate locations being kept over the structure.

34. according to torso support system described in clause 28, wherein at least one described sensor includes force snesor, pressure Force snesor, capacitance sensor, conductivity sensor, strain gauge or strain transducer.

35. according to torso support system described in clause 28, wherein the remote sensor system includes being adapted to detect for institute State at least one additional sensor that subject applies the pressure of structure.

36. system is supported according to trunk described in clause 28, wherein the control circuit includes signal processing circuit, it is described Signal processing circuit is configured to handle by least one received described active signal of at least one described receiver, with determination At least one of following item: the subject prepares to sit up or stand up from the bed, and the subject prepares to lean forward to sit into chair Or stand up from chair, the subject prepares to sit down or lie down in bed and the subject prepares from chair or seat On stand up.

37. according to torso support system described in clause 28, wherein the control circuit includes signal processing circuit, it is described Signal processing circuit is configured to handle by least one received described active signal of at least one described receiver, with determination The subject is present on bed, chair or seat.

38. system is supported according to trunk described in clause 28, wherein the remote sensor system includes at remote signal Circuit is managed, the remote signal processing circuit is configured to handle by the signal of at least one described sensor detection to generate packet Include at least one processing signal of the information about at least one of the following item of determination: the subject prepares to sit up from the bed Or stand up, the subject, which prepares to lean forward, to sit into standing up on the sub or slave chair of chair, and the subject prepares to sit down or lie in bed Under, the subject prepares to stand up from chair or seat；Wherein at least one described transmitter is configured to emit the place Manage signal；And wherein at least one described receiver is configured to from processing letter described at least one described transmitter receipt Number.

39. system is supported according to trunk described in clause 28, wherein the remote sensor system includes at remote signal Circuit is managed, the remote signal processing circuit is configured to handle the signal detected by least one sensor to generate including closing In the processing signal for determining information that the subject is present on bed, chair or seat；Wherein at least one described transmitter It is configured as emitting the processing signal；And wherein at least one described receiver is configured to from least one described transmitting Device receives the processing signal.

40. system is supported according to trunk described in clause 29, wherein from least one received described activity of the network Signal includes the processing signal of at least one of signal processing hardware and signal processing software in the network；And Wherein the processing signal includes the information about at least one of following item: the subject prepares to sit up from the bed or rise Body, the subject, which prepares to lean forward, to sit into standing up on the sub or slave chair of chair, and the subject prepares to sit down or lie down in bed, institute Subject is stated to prepare to stand up from chair or seat.

41. system is supported according to trunk described in clause 29, wherein from least one received described activity of the network Signal includes the processing signal of at least one of signal processing hardware and signal processing software in the network；And Wherein the processing signal includes the information being present on bed, chair or seat about the determination subject.

42. a kind of torso support comprising:

At least one power applies element, is suitable for exerting a force to the part of the trunk of subject；

At least one setting element, the trunk for being adapted to the subject position at least one described power and apply Canadian dollar part；

At least one receiver is suitable for receiving instruction by least one sensing system far from the torso support The posture of the subject detected or at least one movable active signal；

At least one storage device, be suitable for storing for activate at least one described power apply element two or more A preassigned pattern, each preassigned pattern correspond to the predetermined gesture or activity of the subject；And

Control circuit comprising:

It is selected from the two or more preassigned patterns for being based at least partially at least one described active signal Select the circuit of preassigned pattern；And

For generating the circuit of control signal, the control signal is used to control the cause that at least one described power applies element It moves according to selected preassigned pattern applied force.

43. according to torso support described in clause 42, wherein the control circuit is configured to control with time mode At least one described power applies the actuating of element.

44. torso support according to claim 42 comprising at least two spatially separated power apply member Part is each adapted to exert a force to the part of the trunk of the subject, wherein described at least two spatially divide The power application element opened is located in different relative to the trunk of the subject by least one described setting element At position, wherein the control circuit, which is configured to control at least two power, applies the actuating of element according to selected Preassigned pattern is with room and time mode applied force.

45. according to torso support described in clause 42 comprising suitable for receiving the letter for indicating the identity of the subject Number at least one identification signal receiver, wherein the control circuit is configured to be based at least partially on the subject's The identity controls the actuating that at least one described power applies element.

46. according to torso support described in clause 42, wherein at least one described receiver is suitable for from least one biography Sensor system, from including the one or more networks for calculating equipment communicated at least one described sensing system, or from The base station of one sensing system communication receives at least one described active signal.

47. according to torso support described in clause 42, wherein it includes spring, elasticity that at least one described power, which applies element, Material, viscoelastic material, actuator, mechanical linkage, piezoelectric actuator, heat responsive element, inflatable element, inflatable member At least one of part, screw, pneumatic element and Hydraulic Elements.

48. according to torso support described in clause 42, wherein the control circuit is configured to by controlling by described The mould for the movement that at least one power applies the mode for the power that element applies and control is generated by least one described power application element At least one of formula controls the actuating that at least one described power applies element.

49. according to 42 torso support comprising at least one in Spurs stimulus, nerve stimulator and muscle stimulator Kind.

50. being supported according to trunk described in clause 42 comprising user input equipment, wherein the control circuit is configured It is connect at being based at least partially at least one described active signal and being based at least partially on via the user input equipment The input of receipts selects the preassigned pattern from the two or more preassigned patterns.

51. according to torso support described in clause 42, wherein the torso support include spatially with it is described extremely At least one second power that few power applies element separation applies element, wherein the control circuit be configured to control it is described At least one power apply element and at least second power apply the actuating of element with according to selected preassigned pattern with space With time mode applied force.

52. according to torso support described in clause 42, wherein at least one power application element can be by the control Circuit is controlled according to selected preassigned pattern, reaches the specific duration with applied force, the duration corresponds to institute Expected duration corresponding to the preassigned pattern of selection.

53. a kind of torso support system comprising:

Remote sensor system, the remote sensor system include:

It is adapted to detect for the posture of instruction subject or the video camera of movable image；And

Suitable for emitting at least one transmitter of at least one active signal based on the described image detected, it is described at least One active signal indicates the posture or activity of the subject；And

Torso support, the torso support include:

At least one power applies element, is suitable for exerting a force to the part of the trunk of the subject；

At least one receiver is suitable for receiving instruction as far from least one sensor described in the torso support The posture for the subject that system detection arrives or at least one movable active signal；And

Control circuit comprising:

54., wherein the video camera is adapted to mount in environment, being mounted on according to torso support system described in clause 53 At least one of be used together in vehicle and with computer.

55. system is supported according to trunk described in clause 53, wherein at least one described transmitter is suitable at least one Active signal is emitted to including one or more networks for calculating equipment, and wherein at least one described receiver is suitable for from packet It includes one or more networks for calculating equipment and receives at least one active signal.

56. system is supported according to trunk described in clause 55, wherein being connect by least one described receiver from the network At least one the described active signal received includes the picture signal of processing, signal and viewdata signal comprising image data At least one of indicate.

57. supporting system according to trunk described in clause 53 comprising the image arrived for processing detection is described in determination At least one of the activity of subject or the hardware and software of posture.

58. according to torso support system described in clause 57, wherein being used to handle in the hardware and software of described image It is described at least one in the torso support.

59. according to torso support system described in clause 57, wherein being used to handle in the hardware and software of described image It is described it is at least one be the remote sensor system a part.

60. system is supported according to trunk described in clause 53, wherein in the hardware and software for handling described image The model of at least one background for being configured to generate described image is divided in described image, or identification described image The subject.

61. according to torso support system described in clause 53, wherein being used to handle in the hardware and software of described image It is described it is at least one be configured to based on the trunk relative to buttocks angle and shoulder relative in the angle of buttocks extremely It is few a kind of to analyze described image with the activity or posture of the determination subject.

62. a kind of method for controlling wearable items comprising:

With can be operatively coupled to the wearable items and circuit including signal processing circuit come from least one Sensor receives at least one boundary position signal, at least one described boundary position signal designation in the body of subject or At least part of position of the boundary mark relative to the wearable items on the body for being worn on the subject on body； The wearable items include multiple actuators, at least one setting element is configured to the body relative to the subject Each of the multiple actuator is located in the known location relative to the wearable items by body；And control electricity Road comprising for generating the circuit of electric control signal, the electric control signal is selected described for controlling at least one The actuating of actuator is to exert a force to target site；

Using the signal processing circuit, the position based on the boundary mark relative to the wearable items is determined Position of the target site relative to the wearable items on the body of the subject；

The position using the signal processing circuit, based on the multiple actuators of instruction relative to the wearable items Information, from the multiple actuator select near the target site at least one actuator；And

It is described automatically controlled by utilizing the circuit for generating the electric control signal to generate using the control circuit Signal processed controls the actuating of selected at least one actuator.

63. according to method described in clause 62 comprising future, self energy was operatively coupled to the electricity of wearable items The signal on road is emitted to calculating or communication network.

64. according to method described in clause 63, wherein carrying out the electricity that self energy is operatively coupled to wearable items The signal on road includes emitting the signal from the circuit being located in the wearable items.

65. according to method described in clause 63, wherein transmitting comes the institute that self energy is operatively coupled to the wearable items The signal for stating circuit includes the signal for emitting the part of the local calculating or communication network from the subject.

66. according to method described in clause 63, wherein transmitting comes the institute that self energy is operatively coupled to the wearable items The signal for stating circuit includes the signal for emitting the part from calculating or communication network far from the subject.

67. wherein signal includes initial data according to method described in clause 63.

68. wherein signal includes processing data according to method described in clause 63.

69. wherein signal includes the information derived from original or processing data according to method described in clause 63.

70. according to method described in clause 62 comprising received at the signal processing circuit and indicate the subject Posture, gait or at least one active signal of movement.

71. according to method described in clause 70 comprising handle at least one described work using the signal processing circuit Whether dynamic signal has partially at least one aspect of the determination posture, gait or movement with desired posture, gait or movement Difference.

72. according to method described in clause 71 comprising handle at least one described work using the signal processing circuit Dynamic signal is at least one aspect and desired posture, gait or the departure of movement of the determination posture, gait or movement.

73. handling at least one described active signal using the signal processing circuit according to method described in clause 71 With the determination posture, gait or movement at least one aspect whether and desired posture, gait or movement have deviation, wrap It includes and obtains activity data from least one described active signal and by one of the activity data and posture, gait or movement Or multiple template is compared.

74. according to method described in clause 73, wherein one or more of templates indicate posture, gait or the phase of movement Prestige value or target value.

75. according to method described in clause 73, wherein one or more of templates indicate posture, gait or movement not Desired value.

76. according to method described in clause 73, wherein the activity data is compared packet with one or more templates Include execution windowing operation.

77. according to method described in clause 73, wherein the activity data is compared packet with one or more templates Include execution threshold processing operations.

78. according to method described in clause 73, wherein the activity data is compared packet with one or more templates Include execution range measurement.

79. according to method described in clause 73, wherein what the expression of one or more of templates was measured from the subject Selected data.

80. according to method described in clause 73, wherein one or more of templates are indicated from addition to the subject The selected data that measures of one or more individuals.

81. according to method described in clause 73, wherein one or more of templates indicate the combined value from groups of individuals.

82. according to method described in clause 73, wherein what the expression of one or more of templates was obtained from the subject The combined value of multiple tests.

83. according to method described in clause 73 comprising received via user interface from the subject or another user Input is used as template to select the one or more examples for indicating posture, gait or movable activity data.

84. according to method described in clause 70 comprising using can be operatively coupled to described in the wearable items Circuit is based at least partially at least one described active signal, controls to transmit to the subject and feed back.

84. the method according to claim 84 transmits feedback including controlling to institute wherein controlling to the subject It states subject's transmission and needs automatically to correct gait, posture or the notice of movement.

86. according to method described in clause 84, wherein control to the subject transmit feedback include control to it is described by Examination person's real-time transmission feedback.

87. being included in the subject wherein controlling and transmitting feedback to the subject according to method described in clause 84 It energetically executes or participates in control to transmit to the subject when gait, posture or movement to feed back.

88. including control tactile, audio wherein controlling and transmitting feedback to the subject according to method described in clause 84 Or the generation of visual notification or alarm.

89. according to method described in clause 84, wherein control to the subject transmit feedback include control transmission about The gait, posture or movement or correction or improved assessment or recommendation to it.

90. according to method described in clause 89, wherein controlling, to transmit feedback to the subject include via can grasp thereon Be coupled with display or loudspeaker calculating or communication system control with making transmits the assessment or recommendation.

91. according to method described in clause 89, wherein control to the subject transmit feedback include control to it is described by Examination person transmits visual information.

92. according to method described in clause 89, wherein control to the subject transmit feedback include control to it is described by Examination person transmits audio-visual information.

93. according to method described in clause 89, wherein control to the subject transmit feedback include control to it is described by Examination person transmits audio-frequency information.

94. according to method described in clause 62 comprising in the electricity that can be operatively coupled to the wearable items Signal is received from calculating or communication network at road.

95. according to method described in clause 70 comprising in response to receiving at least one described active signal, to institute The interested side in addition to the subject of the gait, posture or movement for stating subject provides assessment or recommends.

Although various aspects and embodiment have been disclosed herein, other aspects and embodiment are for this field It will be apparent for technical staff.Various aspects and embodiment disclosed herein be for purposes of illustration rather than Restrictive, real scope and spirit are indicated by appended claims.

Claims

1. a kind of system, the system comprises:

Wearable items, the wearable items include:

At least one boundary mark sensor is suitable for sensing the position of the boundary mark in the body for indicating the subject or on the body The parameter set, and generate at least one boundary position signal；And

At least one setting element is suitable for being worn on the body of the subject, and the body relative to the subject Body positions at least one described boundary mark sensor and the multiple actuator, wherein each of the multiple actuator is in Known location relative to the wearable items；

At least one activity sensor, at least one described activity sensor are adapted to detect for indicating the posture of the subject, step State or movable input, and generate the posture, gait or the movable active signal for indicating the subject；And

Control circuit, the control circuit include:

Signal processing circuit, the target being used on the body based at least one described boundary position signal and the subject Known location of the position relative to the boundary mark calculates position of the target site relative to the wearable items；

And

At least one actuator is controlled for generating for being based at least partially at least one described active signal The circuit of the electric control signal of actuating.

2. system according to claim 1 comprising by the one or more mind of at least one described setting element carrying Through stimulator, muscle stimulator or Spurs stimulus.

3. system according to claim 1, wherein at least one described boundary mark sensor includes electromagnetic transducer, optics biography Sensor, infrared sensor, acoustic sensor, electric transducer, magnetic transducer, ultrasonic transducer, micro-impulse radar sensor or temperature Spend sensor.

4. system according to claim 1, wherein at least one described boundary mark sensor is configured to sense muscle activity Or nervous activity.

5. system according to claim 1, wherein to be configured to sense instruction following at least one described boundary mark sensor At least one of signal: the intracorporal skeletal structure of the body of the subject, the subject the intracorporal soft tissue of body Structure, the subject body skin surtace vascular system, muscle activity, nervous activity, the skin surface On or below local temperature, the subject skin surface on or below marker or datum mark.

6. system according to claim 1, wherein at least one described activity sensor include at least one force snesor, Pressure sensor, conductivity sensor, strain gauge, strain transducer, video camera, motion sensor, approaches capacitance sensor Sensor, perimeter sensors, micro-impulse radar sensor, infrared sensor, optical sensor, electromagnetic sensor, acoustics is spent to pass Sensor, accelerometer, gyroscope, inclinator, magnetometer or position sensor.

7. system according to claim 1, wherein for receiving described at least one from least one described boundary mark sensor The circuit of a boundary position signal includes the circuit in the wearable items.

8. system according to claim 1, wherein for receiving described at least one from least one described activity sensor The circuit of a active signal includes the receiver for receiving at least one active signal from remote active sensor.

9. system according to claim 1, wherein for based at least one described boundary position signal and described tested The known location of the target site relative to the boundary mark on the body of person, calculates the target site relative to institute The signal processing circuit for stating the position of wearable items is configured to determine the position of the target site, wherein the mesh Mark position is located at the position different from the boundary mark.

10. system according to claim 1, wherein for based at least one described boundary position signal and described tested The known location of the target site relative to the boundary mark on the body of person, calculate the target site relative to it is described can The signal processing circuit of the position of wearing article is configured to determine the position of the target site, wherein the target portion Position is at same location with the boundary mark.

11. system according to claim 10, wherein for based at least one described boundary position signal and it is described by The known location of the target site relative to the boundary mark on the body of examination person, calculates the target site relative to described The signal processing circuit of the position of wearable items is configured to determine the position of the target site, wherein the target Position is the boundary mark.

12. system according to claim 1 comprising it can be operatively coupled to the memory of the control circuit, wherein The actuating of at least one actuator is controlled for generating for being based at least partially at least one described active signal The circuit of electric control signal be configured to be based at least partially on storage time mode in the memory to produce The raw electric control signal.

13. system according to claim 1 comprising it can be operatively coupled to the memory of the control circuit, wherein The actuating of at least one actuator is controlled for generating for being based at least partially at least one described active signal The circuit of electric control signal be configured to generate for the more of the multiple actuator of room and time scheme control A control signal.

14. system according to claim 1, wherein one or more of the multiple actuator is associated with and is adapted to detect for The electric transducer of electromyography signal associated with muscle activity, wherein the electric transducer is at least one described boundary mark sensor At least one of at least one activity sensor.

15. system according to claim 1, wherein the multiple actuator includes that one or more power apply element or touching Feel element.

16. system according to claim 1, wherein at least one described setting element includes clothes, belt, belt, waist At least one of band or harness.

17. system according to claim 1, wherein for selecting near at least one cause described in the target site The signal processing circuit of dynamic device is configured to select to be located at the most short space length away from the target site and away from described At least one described actuator at the most short electrical distance of target site.

18. a kind of system, the system comprises:

At least one remote sensor system comprising:

At least one transmitter is suitable for emitting the posture for indicating the subject or at least one movable first activity Signal；

Intermediate system comprising:

For receiving at least one receiver of at least one first active signal；And

For emitting at least one transmitter of at least one the second active signal, at least one described second active signal includes Instruction includes the posture or movable at least part information of the subject in first active signal；And

Wearable items comprising:

At least one actuator；

Control circuit comprising:

At least one described actuating is controlled for generating for being based at least partially at least one described second active signal The circuit of the control signal of the actuating of device.

19. system according to claim 18, wherein the intermediate system includes base station.

20. system according to claim 19, wherein the base station is configured to from least one additional remote sensor System receives at least third active signal.

21. system according to claim 20, wherein at least one described remote sensor system and it is described at least one At least one of additional remote sensor system include video camera, pressure sensor, motion sensor, proximity sensor, Perimeter sensors, micro-impulse radar sensor, infrared sensor, optical sensor, electromagnetic sensor or acoustic sensor.

22. system according to claim 18, wherein the intermediate system includes network, the network includes one or more A calculating equipment.

23. system according to claim 22 includes communication network including one or more networks for calculating equipment.

24. system according to claim 22, wherein the wearable items include Spurs stimulus, nerve stimulator and flesh At least one of meat stimulator.

25. a kind of torso support system comprising:

Remote sensor system, the remote sensor system include:

Suitable for liner, patch, plate or the cushion being located in structure；

It is adapted to detect at least one sensor that subject applies the pressure of the structure, the pressure applies instruction subject Posture or activity；And

The posture of the subject or at least one transmitter of at least one movable active signal are indicated suitable for emitting； And

Torso support, the torso support include:

The trunk for being adapted to the subject positions at least one positioning member that at least one described power applies element Part；

At least one receiver is adapted at least one active signal as described in the transmitting of at least one described transmitter And at least one signal detected based at least one sensor as described in the remote sensor system, receive instruction The posture of the subject or at least one movable active signal；And

Control circuit comprising:

For generating the circuit of control signal, the control signal is for being based at least partially on by least one described receiver At least one received described active signal controls the actuating that at least one described power applies element.

26. a kind of torso support comprising:

At least one setting element, the trunk for being adapted to the subject position at least one described power and apply member Part；

At least one receiver is suitable for receiving instruction by least one sensor system senses far from the torso support The posture of the subject arrived or at least one movable active signal；

At least one storage device, be suitable for storing for activate at least one described power apply element two or more are pre- Mould-fixed, each preassigned pattern correspond to the predetermined gesture or activity of the subject；And

Control circuit comprising:

It is selected from the two or more preassigned patterns in advance for being based at least partially at least one described active signal The circuit of mould-fixed；And

For generating the circuit of control signal, the control signal be used to control at least one described power apply the actuating of element with According to selected preassigned pattern applied force.

27. a kind of torso support system comprising:

Remote sensor system, the remote sensor system include:

Torso support, the torso support include:

At least one receiver is suitable for receiving instruction as far from least one sensing system described in the torso support The posture of the subject detected or at least one movable active signal；And

Control circuit comprising:

28. a method of control wearable items comprising:

With the wearable items can be operatively coupled to and circuit including signal processing circuit is come from least one sensing Device receives at least one boundary position signal, at least one described boundary position signal designation is in the body of subject or body On at least part of position of the boundary mark relative to the wearable items on the body for being worn on the subject；It is described Wearable items include multiple actuators, at least one setting element is configured to the body relative to the subject, will Each of the multiple actuator is located in the known location relative to the wearable items；And control circuit, Including the circuit for generating electric control signal, the electric control signal is for controlling at least one selected described actuator Actuating to exert a force to target site；

Using the signal processing circuit, the position based on the boundary mark relative to the wearable items, determine described in Position of the target site relative to the wearable items on the body of subject；

Using the signal processing circuit, based on the letter for indicating the position of multiple actuators relative to the wearable items Breath selects at least one actuator near the target site from the multiple actuator；And

Using the control circuit, believed by utilizing the circuit for generating the electric control signal to generate the electric control Number control the actuating of selected at least one actuator.