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    SOFT EXOSUIT FOR ASSISTANCE WITH HUMAN MOTION
    11.
    发明申请
    SOFT EXOSUIT FOR ASSISTANCE WITH HUMAN MOTION 有权

    公开(公告)号：US20210039248A1

    公开(公告)日：2021-02-11

    申请号：US16992298

    申请日：2020-08-13

    Applicant: President and Fellows of Harvard College

    Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ye Ding ,  Ignacio Galiana Bujanda ,  Stefano Marco Maria De Rossi

    IPC: B25J9/00 ,  A61H3/00 ,  A63B21/005 ,  A61H1/02 ,  G09B19/00 ,  A61B5/11 ,  A61B5/00 ,  B25J9/10 ,  B25J9/16

    Abstract: In one aspect, a motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the first and second sensors and, responsive thereto, automatically actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator, during at least a second portion of the gait cycle, to reduce a tensile force at the anchor element attachment point to a level at or below the predetermined threshold tensile force to avoid generating a detrimental moment about the joint.

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