Abstract:
A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

Description:
RELATED APPLICATIONS 
       [0001]    This application claims the benefit of U.S. Provisional Application No. 61/973,129 filed Mar. 31, 2014, which is hereby incorporated herein by reference. 
     
    
     FIELD OF INVENTION 
       [0002]    The present invention relates generally to wearable robotic devices, and more particularly to improvements in operability to powered lower limb orthoses. 
       BACKGROUND 
       [0003]    There are currently about 262,000 spinal cord injured (SCI) individuals in the United States, with roughly 12,000 new injuries sustained each year at an average age of injury of 40.2 years. Of these, approximately 44% (5300 cases per year) result in paraplegia. One of the most significant impairments resulting from paraplegia is the loss of mobility, particularly given the relatively young age at which such injuries occur. Surveys of users with paraplegia indicate that mobility concerns are among the most prevalent, and that chief among mobility desires is the ability to walk and stand. In addition to impaired mobility, the inability to stand and walk entails severe physiological effects, including muscular atrophy, loss of bone mineral content, frequent skin breakdown problems, increased incidence of urinary tract infection, muscle spasticity, impaired lymphatic and vascular circulation, impaired digestive operation, and reduced respiratory and cardiovascular capacities. 
         [0004]    In an effort to restore some degree of legged mobility to individuals with paraplegia, several lower limb orthoses have been developed. The simplest form of passive orthotics are long-leg braces that incorporate a pair of ankle-foot orthoses (AFOs) to provide support at the ankles, which are coupled with leg braces that lock the knee joints in full extension. The hips are typically stabilized by the tension in the ligaments and musculature on the anterior aspect of the pelvis. Since almost all energy for movement is provided by the upper body, these (passive) orthoses require considerable upper body strength and a high level of physical exertion, and provide very slow walking speeds. The hip guidance orthosis (HGO), which is a variation on long-leg braces, incorporates hip joints that rigidly resist hip adduction and abduction, and rigid shoe plates that provide increased center of gravity elevation at toe-off, thus enabling a greater degree of forward progression per stride. Another variation on the long-leg orthosis, the reciprocating gait orthosis (RGO), incorporates a kinematic constraint that links hip flexion of one leg with hip extension of the other, typically by means of a push-pull cable assembly. As with other passive orthoses, the user leans forward against the stability aid while un weighting the swing leg and utilizing gravity to provide hip extension of the stance leg. Since motion of the hip joints is reciprocally coupled through the reciprocating mechanism, the gravity-induced hip extension also provides contralateral hip flexion (of the swing leg), such that the stride length of gait is increased. One variation on the RGO incorporates a hydraulic-circuit-based variable coupling between the left and right hip joints. Experiments with this variation indicate improved hip kinematics with the modulated hydraulic coupling. 
         [0005]    In order to decrease the high level of exertion associated with passive orthoses, the use of powered orthoses has been previously investigated, which incorporate actuators and an associated power supply to assist with locomotion. These orthoses have been shown to increase gait speed and decrease compensatory motions, relative to walking without powered assistance, however, the development of these orthoses is still in its infancy 
       SUMMARY OF INVENTION 
       [0006]    A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety. 
         [0007]    According to one aspect of the invention, a wearable robotic device includes a thigh assembly for attachment to a thigh of a user having a first portion of a self-aligning, self-drawing coupler; a hip assembly for attachment to a hip region of the user having a second portion of the self-aligning, self-drawing coupler; and a latch configured to draw the first portion of the self-aligning, self-drawing coupler to a latched position relative to the second portion of the self-aligning, self-drawing coupler. 
         [0008]    Optionally, the first portion of the self-aligning, self-drawing coupler includes a tapered male portion receivable in a complimentary tapered female portion of the second portion of the self-aligning, self drawing coupler. 
         [0009]    Optionally, a length of the tapered male portion is longer than a widest width portion. 
         [0010]    Optionally, the tapered male portion includes a taper angle of between 1 and 10 degrees. 
         [0011]    Optionally, latch includes a manually operable lever. 
         [0012]    Optionally, the first portion of the self-aligning, self-drawing coupler includes a male portion receivable in a complimentary female portion of the second portion of the self-aligning, self-drawing coupler, one of the male or female portions including a friction-reducing surface. 
         [0013]    Optionally, the friction-reducing surface is a Teflon coating. 
         [0014]    Optionally, the thigh assembly extends downward along a longitudinal thigh axis from the first portion of the self-aligning, self-drawing coupler. 
         [0015]    Optionally, the thigh assembly includes a motive device. 
         [0016]    Optionally, the hip assembly extends upward and laterally away from the second portion of the self-aligning, self-drawing coupler, and partially circumscribes a vertical body axis. 
         [0017]    Optionally, the hip assembly extends laterally away from the second portion of the self-aligning, self-drawing coupler, and includes a second portion of a second self-aligning, self-drawing coupler. 
         [0018]    Optionally, the wearable robotic device includes a second thigh assembly for attachment of a second thigh of the user and including a first portion of a second self-aligning, self-drawing coupler. 
         [0019]    Optionally, the thigh assembly is rotatable with respect to the hip assembly when the thigh assembly is coupled to the hip assembly by the self-aligning, self-drawing coupler. 
         [0020]    Optionally, the wearable robotic device includes a power source and a motive device powered by the power source and configured to rotate at least a portion of the thigh assembly relative to at least a portion of the hip assembly. 
         [0021]    Optionally, the thigh assembly includes the motive device. 
         [0022]    Optionally, the second portion of the self-aligning, self-drawing coupler includes a linkage device configured to transmit motion from an input lever to a latch element. 
         [0023]    Optionally, the linkage device includes an input link, a floating link, an output link, and a ground link. 
         [0024]    Optionally, the linkage device includes a lever as the input link. 
         [0025]    Optionally, the linkage device includes a resilient latch element coupled at a first end to the output link. 
         [0026]    Optionally, the resilient latch element has a second end slidably captured in a guideway for controlling motion of the latch element during operation. 
         [0027]    Optionally, the guideway includes a generally straight draw portion aligned with the female portion of the coupler, and an engagement portion extending laterally away from the draw portion for guiding the latch element into and out of engagement with a corresponding latch element of the second portion of the coupler. 
         [0028]    Optionally, the resilient latch element provides a biasing force in the linkage mechanism for locking the linkage mechanism in an over-center configuration. 
         [0029]    Optionally, the over-center position is a locked open position. 
         [0030]    Optionally, the over-center position is a locked closed position. 
         [0031]    According to another aspect, a wearable robotic device includes a first body assembly having a first portion of a self-aligning, self-drawing coupler; a second body assembly having a second portion of the self-aligning, self-drawing coupler; a power source; a motive device powered by the power source and configured to move at least a portion of the first or second body assembly relative to the other of the first or second body assembly; and a latch configured to draw the first portion of the self-aligning, self-drawing coupler to a latched position relative to the second portion of the self-aligning, self-drawing coupler. 
         [0032]    Optionally, one of the first or second body assembly includes the motive device. 
         [0033]    Optionally, the first body assembly is a thigh assembly configured to be worn by a user and extends downward along a longitudinal thigh axis from the first portion of the self-aligning, self-drawing coupler. 
         [0034]    Optionally, the thigh assembly includes the motive device. 
         [0035]    Optionally, the second body assembly is a hip assembly configured to be worn by a user and extends upward and laterally away from the second portion of the self-aligning, self-drawing coupler, and partially circumscribes a vertical body axis. 
         [0036]    Optionally, the first portion of the self-aligning, self-drawing coupler includes a tapered male portion receivable in a complimentary tapered female portion of the second portion of the self-aligning, self drawing coupler. 
         [0037]    Optionally, a length of the tapered male portion is longer than a widest width portion. 
         [0038]    Optionally, the tapered male portion includes a taper angle of between 1 and 10 degrees. 
         [0039]    Optionally, the latch includes a manually operable lever. 
         [0040]    Optionally, the first portion of the self-aligning, self-drawing coupler includes a male portion receivable in a complimentary female portion of the second portion of the self-aligning, self drawing coupler, one of the male or female portions including a friction-reducing surface. 
         [0041]    Optionally, the friction-reducing surface is a Teflon coating. 
         [0042]    Optionally, the hip assembly extends laterally away from the second portion of the self-aligning, self-drawing coupler, and includes a second portion of a second self-aligning, self-drawing coupler. 
         [0043]    Optionally, the wearable robotic device includes a second thigh assembly for attachment of a second thigh of the user and including a first portion of a second self-aligning, self-drawing coupler. 
         [0044]    Optionally, the thigh assembly is rotatable with respect to the hip assembly when the thigh assembly is coupled to the hip assembly by the self-aligning, self-drawing coupler. 
         [0045]    Optionally, the second portion of the self-aligning, self-drawing coupler includes a linkage device configured to transmit motion from an input lever to a latch element. 
         [0046]    Optionally, the linkage device includes an input link, a floating link, an output link, and a ground link. 
         [0047]    Optionally, the linkage device includes a lever as the input link. 
         [0048]    Optionally, the linkage device includes a resilient latch element coupled at a first end to the output link. 
         [0049]    Optionally, the resilient latch element has a second end slidably captured in a guideway for controlling motion of the latch element during operation. 
         [0050]    Optionally, the guideway includes a generally straight draw portion aligned with the female portion of the coupler, and an engagement portion extending laterally away from the draw portion for guiding the latch element into and out of engagement with a corresponding latch element of the second portion of the coupler. 
         [0051]    Optionally, the resilient latch element provides a biasing force in the linkage mechanism for locking the linkage mechanism in an over-center configuration. 
         [0052]    Optionally, the over-center position is a locked open position. 
         [0053]    Optionally, the over-center position is a locked closed position. 
         [0054]    According to another aspect, a removable, self-contained, ovular actuator cassette receivable in a receptacle of a wearable robotic device includes: a first circular portion housing a motive device; a second circular portion longitudinally offset and longitudinally overlapping the first circular portion and housing a first portion of a drivetrain operatively coupled to and driven by the motive device; a third circular portion longitudinally offset from the first and second circular portions and longitudinally overlapping the second circular portion and housing a second portion of the drivetrain; an ovular housing supporting the motive device and drivetrain; and an output protruding from and rotatable with respect to the housing and driven by the drivetrain. 
         [0055]    Optionally, the housing includes a top plate on which the motive device is mounted, the drive shaft of the motive device protruding through the top plate. 
         [0056]    Optionally, the housing includes a bottom plate. 
         [0057]    Optionally, the drive train is sandwiched between the top plate and the bottom plate. 
         [0058]    Optionally, the motive device is mounted outside the top and bottom plates. 
         [0059]    Optionally, a maximum depth of the cassette measured along a rotational axis of the motive device is less than a maximum width and a maximum length, the maximum width and maximum length being measured orthogonal to the depth and to each other. 
         [0060]    Optionally, all rotational axes of the drivetrain are parallel to the rotational axis of the motive device. 
         [0061]    Optionally, long sides of the ovular housing are straight and parallel with each other and tangentially terminate at curved end surfaces of the ovular housing. 
         [0062]    Optionally, the cassette includes an output opening in the housing through which the output protrudes and slide covers disposed in the output opening and movable with the output to cover portions of the output opening not occupied by the output. 
         [0063]    Optionally, the output includes a first portion of a coupler connectable to a complimentary portion of the coupler. 
         [0064]    According to another aspect, a wearable robotic device includes a removable, self-contained actuator cassette including a power connector and a driven output; and an exoskeletal assembly including a receptacle for receiving and retaining the removable, self-contained actuator cassette. 
         [0065]    Optionally, the driven output includes a first portion of a coupler connectable to a complimentary portion of the coupler. 
         [0066]    Optionally, the removable, self-contained actuator cassette includes: a first circular portion housing a motive device; a second circular portion longitudinally offset and longitudinally overlapping the first circular portion and housing a first portion of a drivetrain operatively coupled to and driven by the motive device; a third circular portion longitudinally offset from the first and second circular portions and longitudinally overlapping the second circular portion and housing a second portion of the drivetrain; an ovular housing supporting the motive device and drivetrain; and wherein the output protrudes from and is rotatable with respect to the housing and driven by the drivetrain. 
         [0067]    Optionally, the housing includes a top plate on which the motive device is mounted, the drive shaft of the motive device protruding through the top plate. 
         [0068]    Optionally, the housing includes a bottom plate. 
         [0069]    Optionally, the drive train is sandwiched between the top plate and the bottom plate. 
         [0070]    Optionally, the motive device is mounted outside the top and bottom plates. 
         [0071]    Optionally, a maximum depth of the cassette measured along a rotational axis of the motive device is less than a maximum width and a maximum length, the maximum width and maximum length being measured orthogonal to the depth and to each other. 
         [0072]    Optionally, all rotational axes of the drivetrain are parallel to the rotational axis of the motive device. 
         [0073]    Optionally, long sides of the ovular housing are straight and parallel with each other and tangentially terminate at curved end surfaces of the ovular housing. 
         [0074]    Optionally, an exemplary wearable robotic device includes an output opening in the housing through which the output protrudes and slide covers disposed in the output opening and movable with the output to cover portions of the output opening not occupied by the output. 
         [0075]    Optionally, the output includes a first portion of a coupler connectable to a complimentary portion of the coupler. 
         [0076]    According to another aspect, a wearable robotic device includes: a first body assembly for attachment to a first portion of a user&#39;s body; a second body assembly for attachment to a second portion of the user&#39;s body; an actuator having first and second actuator portions respectively connected to the first and second body assemblies and configured to move the first and second body assembly relative each other; wherein the first body assembly includes an attachment device for attaching to the first portion of the user&#39;s body, the attachment device including a tensioning system for retention of the first body assembly to the first portion of the user&#39;s body, the tensioning system including a tensionable member and a tensioning member. 
         [0077]    Optionally, the tensioning member includes a ratchet. 
         [0078]    Optionally, the tensioning member includes a cable reel and the tensionable member includes a cable acted upon by the cable reel to tension the cable. 
         [0079]    Optionally, the attachment device includes a strap releasably coupled at a first end to a first strap anchor of the one body assembly. 
         [0080]    Optionally, the strap is releasably coupled at a second end to a second strap anchor of the one body assembly. 
         [0081]    Optionally, the attachment point of the strap to the strap anchor is adjustable. 
         [0082]    Optionally, the strap is an adjustable length strap. 
         [0083]    Optionally, the attachment device is removably coupled to the first body assembly at one end of the attachment device by a buckle. 
         [0084]    Optionally, the buckle is rotatable with respect to the first body assembly in two orthogonal directions. 
         [0085]    According to another aspect, a wearable robotic device includes a first body assembly for attachment to a first portion of a user&#39;s body; a second body assembly for attachment to a second portion of the user&#39;s body; an actuator having first and second actuator portions respectively connected to the first and second body assemblies and configured to move the first and second body assembly relative each other; an attachment device for attaching to the first portion of the user&#39;s body, the attachment device including a tensioning system for retention of the first body assembly to the first portion of the user&#39;s body, including a coarse adjuster and a separate fine adjuster. 
         [0086]    Optionally, the fine adjuster includes a tensioning member and a tensionable member. 
         [0087]    Optionally, the tensioning member includes a ratchet. 
         [0088]    Optionally, the tensioning member includes a cable reel and the tensionable member includes a cable acted upon by the cable reel to tension the cable. 
         [0089]    Optionally, the tensioning system includes a strap releasably coupled at a first end to a first strap anchor of the one body assembly. 
         [0090]    Optionally, the strap is releasably coupled at a second end to a second strap anchor of the one body assembly. 
         [0091]    Optionally, the attachment point of the strap to the strap anchor is adjustable. 
         [0092]    Optionally, the strap is an adjustable length strap. 
         [0093]    Optionally, the attachment device is removably coupled to the first body assembly at one end of the attachment device by a buckle. 
         [0094]    Optionally, the buckle is rotatable with respect to the first body assembly in two orthogonal directions. 
         [0095]    According to another aspect, an ankle-foot orthosis securable to a user&#39;s leg for controlling ankle movement includes a plantar element of rigid, thin-sheeted material; a leg element having a lower portion made of rigid thin-sheeted material rigidly connected to and extending upwardly from the plantar element and an upper portion having a retention system to secure said upper portion to a leg; a first portion of a coupler for coupling the ankle-foot orthosis to a wearable robotic device. 
         [0096]    Optionally, the lower portion of the leg element and the plantar element are adjustably coupled to the upper portion and wherein a distance between the first portion of the coupler and the plantar element is adjustable. 
         [0097]    Optionally, the distance between the first portion of the coupler and the plantar element is infinitely adjustable between minimum and maximum distances Optionally, the first portion of the coupler extends upward from the leg element. 
         [0098]    Optionally, the lower portion of the leg element is lockable with respect to the upper portion of the leg element by means of a cam lock. 
         [0099]    Optionally, the cam lock is manually operable. 
         [0100]    According to another aspect, a wearable robotic device includes a thigh assembly having a thigh retention system to secure the thigh assembly to a user&#39;s thigh; a lower leg assembly rotatably coupled to the thigh assembly at a hinge including: a lower leg retention system to secure the thigh assembly to a user&#39;s lower leg, a lower leg housing, a plantar element of rigid material, and a leg element made of rigid material having a lower portion rigidly connected to and extending upwardly from the plantar element. The lower portion of the leg element and the plantar element are adjustably coupled to the lower leg housing and wherein a distance between the hinge and the plantar element is adjustable. 
         [0101]    Optionally, the plantar element is made of a thin-sheeted material. 
         [0102]    Optionally, the leg element is made of a thin-sheeted material. 
         [0103]    Optionally, the thigh assembly and lower leg assembly are coupled by a quick-connect coupler. 
         [0104]    Optionally, the quick connect coupler comprises the first and second portions of the self-aligning, self-drawing coupler of any preceding claim. 
         [0105]    Optionally, the distance between the first portion of the coupler and the plantar element is infinitely adjustable between minimum and maximum distances. 
         [0106]    Optionally, the first portion of the coupler extends upward from the leg element. 
         [0107]    Optionally, the lower portion of the leg element is lockable with respect to the upper portion of the leg element by means of a cam lock. 
         [0108]    Optionally, the cam lock is manually operable. 
         [0109]    According to another aspect, a wearable robotic device includes: a first body assembly attachable to a portion of a user&#39;s body; and a hip assembly attachable to a hip region of a user&#39;s body and coupled to the first body assembly and rotatable with respect to the first body assembly via a motive device housed in at least one of the first body assembly or the hip assembly, the hip assembly partially circumscribes a vertical body axis and includes a rigid housing and a removable attachment device attachable to the hip region of a user&#39;s body and removable from the rigid housing by operation of a removal mechanism, the hip assembly further includes a battery receptacle for receiving a battery, the battery receptacle being associated with the removal mechanism and the removal mechanism being positioned such that access to the removal mechanism is precluded when the battery is installed in the battery receptacle. 
         [0110]    Optionally, the battery receptacle further includes electrical contacts for mating with corresponding electrical contacts of the battery. 
         [0111]    Optionally, the removal mechanism is manually operable. 
         [0112]    Optionally, the removal mechanism includes a quick-release hinge pin. 
         [0113]    Optionally, the removal mechanism includes a central guide cylinder housing a spring longitudinally outwardly biasing first and second finger-operated pins slidably disposed on opposite longitudinal sides of the guide cylinder. 
         [0114]    According to another aspect, a wearable robotic device includes a first body assembly attachable to a portion of a user&#39;s body; and a hip assembly attachable to a hip region of a user&#39;s body and coupled to the first body assembly and rotatable with respect to the first body assembly via a motive device housed in at least one of the first body assembly or the hip assembly, the hip assembly partially circumscribes a vertical body axis and includes a rigid housing and a removable attachment device attachable to the hip region of a user&#39;s body and removable from the rigid housing by operation of a manually operable removal mechanism. 
         [0115]    Optionally, the hip assembly further includes a battery receptacle for receiving a battery. 
         [0116]    Optionally, the battery receptacle is associated with the removal mechanism, the removal mechanism being positioned such that access to the removal mechanism is precluded when the battery is installed in the battery receptacle. 
         [0117]    Optionally, the battery receptacle further includes electrical contacts for mating with corresponding electrical contacts of the battery. 
         [0118]    Optionally, the removal mechanism includes a quick-release hinge pin. 
         [0119]    Optionally, the removal mechanism includes a central guide cylinder housing a spring longitudinally outwardly biasing first and second finger-operated pins slidably disposed on opposite longitudinal sides of the guide cylinder. 
         [0120]    Optionally, the removable attachment device includes a hooked hinge portion with an inner hook surface and an outer hook surface partially circumscribing a rotational axis of the attachment device, wherein the rigid housing includes a hinge pin, and wherein the inner surface of the hooked hinge portion engages with the hinge pin and the removable attachment device rotates around the hinge pin when attached to the rigid housing. 
         [0121]    Optionally, the rigid housing includes a radially inward facing hinge guide surface radially offset from and partially circumscribing the hinge pin, and the outer hook surface engages the hinge guide surface such that the hooked hinge portion is sandwiched between the hinge pin and the hinge guide surface when the removable attachment device is attached to the rigid housing. 
         [0122]    Optionally, the rigid housing includes a detachment pocket into which the hooked hinge portion may be slid to disengage the hooked hinge portion from the hinge pin to detach the removable attachment device from the rigid housing. 
         [0123]    The foregoing and other features of the invention are hereinafter described in greater detail with reference to the accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0124]      FIG. 1  shows a wearable robotic device being worn by a user; 
           [0125]      FIG. 2  shows a perspective view of an exemplary wearable robotic device in a standing position; 
           [0126]      FIG. 3  shows a perspective view of the exemplary wearable robotic device in a seated position; 
           [0127]      FIG. 4  shows a front view of the exemplary wearable robotic device in a standing position; 
           [0128]      FIG. 5  shows a left view of the exemplary wearable robotic device in a standing position; 
           [0129]      FIG. 6  shows a back view of the exemplary wearable robotic device in a standing position; 
           [0130]      FIG. 7  shows a broken detail view of a portion of an exemplary wearable robotic device having a self-aligning, self-drawing coupler at the hip joint; 
           [0131]      FIG. 8  shows a simplified view of the linkage mechanism of the self-aligning, self-drawing coupler; 
           [0132]      FIG. 9  shows a broken detail view of a portion of the exemplary wearable robotic device having a self-aligning, self-drawing coupler at the hip joint with the coupler latch mechanism in a locked open position; 
           [0133]      FIG. 10  shows a broken detail view of a portion of the exemplary wearable robotic device having a self-aligning, self-drawing coupler at the hip joint with the coupler latch mechanism in a closing position; 
           [0134]      FIG. 11  shows a broken detail view of a portion of the exemplary wearable robotic device having a self-aligning, self-drawing coupler at the hip joint with the coupler latch mechanism in a locked close position; 
           [0135]      FIG. 12  shows a detail view of the self-aligning, self-drawing coupler at the hip joint with the coupler latch mechanism in a closing position; 
           [0136]      FIG. 13  shows a detail view of the self-aligning, self-drawing coupler at the hip joint with the coupler latch mechanism in an opening position; 
           [0137]      FIG. 14  shows a perspective view of an exemplary thigh assembly having two exemplary actuator cassettes installed therein; 
           [0138]      FIG. 15  shows a front exploded view of the exemplary thigh assembly having two exemplary actuator cassettes installed therein; 
           [0139]      FIG. 16  shows a perspective exploded view of the exemplary thigh assembly having two exemplary actuator cassettes installed therein; 
           [0140]      FIG. 17  shows a top view of an exemplary actuator cassette; 
           [0141]      FIG. 18  shows a bottom view of an exemplary actuator cassette; 
           [0142]      FIG. 19  shows a perspective view of an exemplary actuator cassette; 
           [0143]      FIG. 20  shows a cross-sectional view of an exemplary actuator cassette taken along the longitudinal direction; 
           [0144]      FIG. 21  shows an exemplary attachment device for use in an exemplary hip assembly having a retention system with a tensionable member and a tensioning member; 
           [0145]      FIG. 22  shows an exemplary attachment device for use in an exemplary lower leg assembly having a retention system with a tensionable member and a tensioning member; 
           [0146]      FIG. 23  shows a perspective view of an exemplary buckle for use in an exemplary attachment device; 
           [0147]      FIG. 24  shows a side view of the exemplary buckle for use in an exemplary attachment device; 
           [0148]      FIG. 25  shows an exemplary button and post for use in an exemplary clip of an exemplary attachment device; 
           [0149]      FIG. 26  shows an exemplary clip without an attached button; 
           [0150]      FIG. 27  shows another view of the exemplary clip without an attached button; 
           [0151]      FIG. 28  shows an exemplary attachment device for use in an exemplary hip assembly having a retention system with a tensionable member and a tensioning member; 
           [0152]      FIG. 29  shows an exemplary lower leg assembly having an exemplary integrated ankle-foot orthotic; 
           [0153]      FIG. 30  shows another view or the exemplary lower leg assembly having an exemplary integrated adjustable ankle-foot orthotic with the orthotic retracted; 
           [0154]      FIG. 31  shows another view of the exemplary lower leg assembly having an exemplary integrated adjustable ankle-foot orthotic with the orthotic partially extended; 
           [0155]      FIG. 32  shows a portion of an exemplary lower-leg assembly having a quick connect coupler at the top end and a cam-lock adjuster at a lower end in a locked position for use with an exemplary ankle-foot orthotic; 
           [0156]      FIG. 33  shows a portion of an exemplary lower-leg assembly having a quick connect coupler at the top end and a cam-lock adjuster at a lower end in an unlocked position for use with an exemplary ankle-foot orthotic; 
           [0157]      FIG. 34  shows an exemplary hip assembly with a removable hip wing; 
           [0158]      FIG. 35  shows a partial view of the hip assembly with the hip wing removed; 
           [0159]      FIG. 36  shows a partial view of the hip assembly with a portion of the housing removed to show the interior of the hip assembly; 
           [0160]      FIG. 37  shows a partial view of the hip assembly with a portion of the housing removed and the guide cylinder invisible to show the spring of the removal mechanism; 
           [0161]      FIG. 38  shows a rear view of the exemplary hip assembly with the battery installed in the batter receptacle; 
           [0162]      FIG. 39  shows a rear view of the exemplary hip assembly with the battery not installed in the batter receptacle, revealing the removal mechanism of one of the hip wings; 
           [0163]      FIG. 40  shows a partial view of the hip assembly with another exemplary attachment mechanism between the hip wing and the rigid housing of the hip assembly; 
           [0164]      FIG. 41  shows a sectioned view of the hip assembly with the hip wing disconnected from the hinge pin of the rigid housing; 
           [0165]      FIG. 42  shows another sectioned view of the hip assembly with the hip wing engaged with the hinge pin; 
           [0166]      FIG. 43  shows another sectioned view of the hip assembly with the hip wing engaged with the hinge pin and with a guide surface of the rigid housing; 
           [0167]      FIG. 44  shows a permanently installed battery with the back cover removed from the hip assembly; 
           [0168]      FIG. 45  shows an exemplary hip assembly with a permanently installed battery; and 
           [0169]      FIG. 46  shows an exemplary hip assembly with a battery charging port located under the hip assembly. 
       
    
    
     DETAILED DESCRIPTION 
       [0170]    Although the various embodiments will be discussed at times with respect to orthoses for providing mobility assistance for users with paraplegia, the various embodiments are not limited in this regard. The various embodiments are equally application to other applications. For example, these can include mobility assistance for users with other conditions other than paraplegia, rehabilitation and mobility assistance for stroke-impaired users, and mobility assistance for users with neuromuscular disabilities that impair legged mobility, to name a few, including human and non-human users. Further, embodiments may be applied to other wearable robotic devices such as strength-enhancing exoskeletons for use in military, construction, or other applications. Thus, the various embodiments can be applied to any applications in which mobility assistance or enhancement is needed, either permanently or temporarily. 
         [0171]    Further, although the various embodiments will be generally described with respect to the exemplary orthosis described below, the various embodiments are not limited to this particular configuration. The various embodiments can be embodied in or used with any type of exoskeleton system, such as the orthosis described below and further illustrated in design application No. 29/486,534, the entire disclosure of which is hereby incorporated herein by reference herein, or the orthosis described in International Publication Number WO 2012/044621, the entire disclosure of which is hereby incorporated by reference herein. 
         [0172]    The terms “exoskeleton system,” “exoskeleton,” and “wearable robotic device,” as used herein, refer to any type of device that can be worn or otherwise attached to a user, where the device is configured to provide energy for motion and or support of the one or more portions of the user. 
         [0173]    As show in  FIG. 1 , a wearable robotic device  10  can be worn by a user. To attach the device to the user, the device  10  can include attachment devices  11  for attachment of the device to the user via belts, loops, straps, or the like. Further, for comfort of the user, the device  10  can include padding  12  disposed along any surface likely to come into contact with the user. The device  10  can be used with a stability aid  13 , such as crutches, a walker, or the like. 
         [0174]    An exemplary wearable robotic device is illustrated as a powered lower limb orthosis  100  in  FIGS. 2-6 . Specifically, the orthosis  100  shown in  FIGS. 2-6  incorporates four motive devices (for example, electric motors), which impose sagittal plane torques at each hip joint  102 R,  102 L and knee joint  104 R,  104 L.  FIG. 1  shows the orthosis in a standing position while  FIG. 3  shows the orthosis  100  in a seated position. 
         [0175]    As seen in the figures, the orthosis contains five assemblies or modules, although one or more of these modules may be omitted and further modules may be added (for example, arm modules), which are: two lower leg assemblies (modules)  106 R and  106 L, two thigh assemblies  108 R and  108 L, and one hip assembly  110 . Each thigh assembly  108 R and  108 L includes a thigh assembly housing  109 R and  109 L, respectively, and link, connector, or coupler  112 R and  112 L, respectively, extending from each of the knee joints  104 R and  104 L and configured for moving in accordance with the operation of the knee joints  104 R and  104 L to provide sagittal plane torque at the knee joints  104 R and  104 L. 
         [0176]    The connectors  112 R and  112 L may be further configured for releasably mechanically coupling each of thigh assembly  108 R and  108 L to respective ones of the lower leg assemblies  106 R and  106 L. Further, each thigh assembly  108 R and  108 L also includes a link, connector, or coupler  114 R and  114 L, respectively, extending from each of the hip joints  102 R and  102 L and moving in accordance with the operation of the hip joints  102 R and  102 L to provide sagittal plane torque at the knee joints  104 R and  104 L. The connectors  114 R and  114 L may be further configured for releasably mechanically coupling each of thigh assemblies  108 R and  108 L to the hip assembly  110 . 
         [0177]    In some embodiments, the various components of device  100  can be dimensioned for the user. However, in other embodiments, the components can be configured to accommodate a variety of users. For example, in some embodiments, one or more extension elements can be disposed between the lower leg assemblies  106 R and  106 L and the thigh assemblies  108 R and  108 L to accommodate users with longer limbs. In other configurations, the lengths of the two lower leg assemblies  106 R and  106 L, two thigh assemblies  108 R and  108 L, and one hip assembly  110  can be adjustable. That is, thigh assembly housings  109 R,  109 L, the lower leg assembly housings  107 R and  107 L for the lower leg assemblies  106 R,  106 L, respectively, and the hip assembly housing  113  for the hip assembly  110  can be configured to allow the user or prosthestist to adjust the length of these components in the field. For example, these components can consist of slidable or movable sections that can be held in one or more positions using screws, clips, or any other types of fasteners. In view of the foregoing, the two lower leg assemblies  106 R and  106 L, two thigh assemblies  108 R and  108 L, and one hip assembly  110  can form a modular system allowing for one or more of the components of the orthosis  100  to be selectively replaced and for allowing an orthosis to be created for a user without requiring customized components. Such modularity can also greatly facilitate the procedure for donning and doffing the device. 
         [0178]    In orthosis  100 , each thigh assembly housing  109 R,  109 L may include substantially all the components for operating corresponding ones of the knee joints  104 R,  104 L and the hip joints  102 R,  102 L. In particular, each of thigh assembly housings  109 R,  109 L may include two motive devices (e.g., electric motors) which are used to drive the hip and knee articulations. However, the various embodiments are not limited in this regard and some components can be located in the hip assembly  110  and/or the lower leg assemblies  106 R,  106 L. 
         [0179]    For example, a battery  111  for providing power to the orthosis can be located within hip assembly housing  113  and connectors  114 R and  114 L can also provide means for connecting the battery  111  to any components within either of thigh assemblies  108 R and  108 L. For example, the connectors  114 R and  114 L can include wires, contacts, or any other types of electrical elements for electrically connecting battery  111  to electrically powered components in thigh assemblies  108 R and  108 L. In the various embodiments, the placement of battery  111  is not limited to being within hip assembly housing  113 . Rather, the battery can be one or more batteries located within any of the assemblies of orthosis  100 . 
       Joint Coupler 
       [0180]    Wearable robotic devices may be especially difficult to don and doff because of the weight of the device, and/or due to physical limitations of users due to some medical condition. In particular, it may be difficult to connect thigh assemblies to a hip assembly because one or more of these assemblies may be attached to the user&#39;s body already, and coupling may require both thigh assemblies to be coupled at the same time. Therefore, self-aligning and self-drawing couplers may ease donning and doffing of exemplary wearable robotic devices. 
         [0181]    An exemplary coupler incorporates a tapered joint connection with a tapered top portion that interfaces with a mating tapered receptacle to tightly secure the portions in place. Embodiments of this mechanical connection could also include an electrical interconnect  195  for power and/or other communication; these may include redundant contacts. 
         [0182]    Referring specifically to  FIGS. 7-13 , shown is an exemplary self-aligning, self-drawing coupler for use in a wearable robotic device. In particular,  FIG. 7  shows a portion of the hip assembly  300  broken away in order to show the interior workings of the coupler. 
         [0183]    A thigh assembly  200  for attachment to a thigh of a user includes a first portion  154  of the self-aligning, self-drawing coupler  150 , and a hip assembly  300  for attachment to a hip region of the user has a second portion or receptacle  156  of the self-aligning, self-drawing coupler  150 . Although illustrated as a coupler between a thigh and a hip assembly, such coupler may be used at any appropriate connection point of a wearable robotic device. 
         [0184]    The coupler  150  may include a latch  152  configured to draw the first portion  154  of the self-aligning, self-drawing coupler to a latched position relative to the second portion  156  of the self-aligning, self-drawing coupler. 
         [0185]    The first portion  154  of the self-aligning, self-drawing coupler includes a tapered male portion  158  receivable in a complimentary tapered female portion  160  of the second portion of the self-aligning, self-drawing coupler. These complimentary tapered portions create a self-aligning feature that assists a user when donning a wearable robotic device. For example, as long as the tapered positions are brought into general alignment, the shape of the pieces will cause the pieces to self-align when drawn together. 
         [0186]    The length of both the tapered male portion and tapered female portion is preferably longer than a widest width portion. Further, the taper may be in both a width and a depth direction along the length of the portions. Preferably the taper includes a taper angle of between approximately 1 and 10 degrees. One embodiment may include a friction reducing surface, such as Teflon, on at least a portion of the interfacing surface between the male and female portions. 
         [0187]    As shown in simplified form in  FIG. 8 , an exemplary coupler  150  may include a four bar linkage including an input link  162 , a floating link  168 , an output link  170 , and a ground link  172  to aid in connecting the two separate components of a wearable robotic device. It may include a manually operable (i.e. operable without tools) lever  163  as the input link  162  with a cantilever portion  164  connecting to the floating link  168 . 
         [0188]    At the revolute link  166  between the floating link  168  and the output link  170 , a sliding latch element  152  is attached at a first end  174 . The latch element  152  may be resilient. The other end  176  of the sliding latch element may be restricted to sliding in a guideway or channel  178  for controlling motion of the latch element during operation. 
         [0189]    The guideway  178  may include a generally straight draw portion  180  aligned with the female portion of the coupler, and an engagement portion  182  extending laterally away from the draw portion for guiding the latch element into and out of engagement with a corresponding latch element  190  of the second portion  154  of the coupler. 
         [0190]    The guideway the sliding latch element is contained to be within allows the sliding latch element to move in either direction based on the position and direction of the input lever. This movement allows the latch mechanism to draw the connecting link into the receptacle or to eject the link from the receptacle, as shown in  FIGS. 12 and 13 , respectively. Preferably, the sliding latch element rides in a channel that is curved to push the sliding latch element out of the way in the fully open position allowing for unobstructed removal or insertion. 
         [0191]    The resilient latch element  152  may provide a biasing force in the linkage mechanism for locking the linkage mechanism in an over-center configuration. The over-center position may be either in a locked open position as illustrated in  FIG. 9 , or a locked close position as illustrated in  FIG. 11 , although, preferably, it is both. The resilient latch, when in an over-center, locked close position, holds the input lever closed with the spring load and takes up tolerance in the hip link. The resilient latch, when in an over-center, locked close position, can secure the lever in an open position and secure the sliding latch element in a position that prevents the sliding latch element from blocking the connecting link during insertion. When the connecting link is inserted, it will catch the sliding latch element  152 . With the connecting link partially inserted, the input lever of the four bar linkage can be used to fully insert the connecting link, creating a self-drawing feature. 
         [0192]    The male portion of the coupler may include a notch  190  that the sliding latch element can interface with and pull or push the connecting link. This controlled action provides a consistent connection of the link. 
         [0193]    In one embodiment the sliding latch element and notch can be used to “key” the connecting link to prevent improper insertion. This also prevents incorrect electrical connections. 
         [0194]    As noted above, the connectors  112 R,  112 L,  114 R, and  114 L, and/or the self-aligning, self-drawing coupler  150  can be configured to provide mechanical and electrical connections. In the event that an electrical connection is needed between the thigh assembly  108 R and lower leg assembly  106 R, wires can be routed through the interior of connector  112 R to electrical contacts. A corresponding set of electrical contacts  190  would also be provided in the interior of the female portion. Accordingly, when a male portion is locked into the female portion, the electrical contacts are placed in contact with the corresponding electrical contacts within the female portion. A similar configuration can be provided for links  112 L,  114 R, and  114 L. It is noted though that the various embodiments self-aligning, self-drawing coupler may be used on any suitable device and may, in particular, be used with any other exemplary devices disclosed herein. 
       Actuator Cassette 
       [0195]    In the various embodiments, in order to maintain a low weight for orthosis and a reduced profile for the various components, a substantially planar drive system is used to drive the hip and knee articulations. For example, each motor can respectively drive an associated joint through a speed-reduction transmission using an arrangement of sprocket gears and chains substantially parallel to the plane of sagittal motion. 
         [0196]    The powered joints may be implemented by disposing a joint sprocket gear  504  at one end of thigh assembly housing  109 R parallel to the sagittal plane and configuring the joint sprocket gear  504  to rotate parallel to the sagittal plane. To provide the sagittal plane torque for knee joint  102 R, the connector  112 R can extend from the joint sprocket gear  504  and be mechanically connected, so that rotation of the joint sprocket gear  504  results in application of torque to the lower leg assembly  106 . A slot or receiving element can be provided for the connector  112 R to link the thigh assembly  108 R and lower leg assembly  106 R. The receiving element and the connector  112 R can be configured such that the connector can removably connect the thigh assembly  108 R and lower leg assembly  106 R. In the various embodiments, clips, screws, or any other types of fastener arrangements can be used to provide a permanent or a removable connection. In some embodiments, quick connect or “snap-in” devices can be provided for providing the connection. That is, these quick connect devices allow connections to be made without the need of tools. These types of quick connect devices can not only be used for mechanically coupling, but for electrical coupling. In some embodiments, a single quick connect device can be used to provide both electrical and mechanical coupling. However, the various embodiments are not limited in this regard and separate quick connect devices can be provided for the electrical and mechanical coupling. It is worth noting that with quick disconnect devices at each joint, the orthosis can be easily separated into three or five modular components—right thigh, left thigh, right lower leg, left lower leg, and hip assemblies—for ease of donning and doffing and also for increased portability. 
         [0197]    The knee joint  104 R may be actuated via operation of a motor  502 , as discussed above. The motor  502  can be an electric motor that drives the knee joint  104 R (i.e., joint sprocket gear  504 ) using a two-stage chain drive transmission. For example, as shown in  FIG. 20 , a first stage can consist of the motor  502  driving, either directly or via a first chain, a first drive sprocket gear  514 . The first drive sprocket gear  514  is mechanically coupled to a second drive sprocket gear  516  so that they rotate together about the same axis based on the power applied by motor  502  to first drive sprocket gear  514 . The second drive sprocket gear  516  can be arranged so that it is disposed in the same plane as the joint gear  504 . Thus, a second chain can then be used to drive joint sprocket gear  504  using the second drive sprocket gear  516  and actuate the knee joint  104 R. The gear ratios for the various components described above can be selected based on a needed amount of torque for a joint, power constraints, and space constraints. 
         [0198]    Each stage of the chain drive transmission can include tensioners, which can remove slack from a chain and mitigate shock loading. Such tensioners can be adjustable or spring loaded. 
         [0199]    In addition, a brake  570  can be provided for motor  502 . For example, a solenoid brake may be provided which engages a brake pad against the rotor  524  of the motor  502  in one state, and disengages the brake pad in another state. However, the various embodiments are not limited to this particular brake arrangement and any other methods for providing a brake for motor  502  can be used without limitation. 
         [0200]    The configuration illustrated in  FIG. 20  has been discussed above with respect to an arrangement of sprocket gears and chains. However, the various embodiments are not limited in this regard. That is, any other arrangement of gears, with or without chains, and providing a reduced profile can be used. Further, the various embodiments disclosed herein are not limited to an arrangement of gears and/or chains. For example, in some configurations, a belt and pulley arrangement could be used in place of the chain and sprocket arrangement. Further, a friction drive arrangement can also be used. Also, any combination of the arrangements discussed above can be used as well. Additionally, different joints can employ different arrangements. 
         [0201]    In the various embodiments, a motor for each of joints  102 R,  102 L,  104 R,  104 L can be configured to provide a baseline amount of continuous torque and a higher amount of torque for shorter periods of time. For example, in one configuration, at least 10 Nm of continuous torque and at least 25 Nm of torque for shorter (i.e., 2-sec) durations are provided. In another example, up to 12 Nm of continuous torque and 40 Nm of torque for shorter (i.e., 2-sec) durations. As a safety measure, both knee joints  104 R and  104 L can include normally locked brakes, as discussed above, in order to preclude knee buckling in the event of a power failure. 
         [0202]    Referring now to  FIGS. 14-20 , consolidating the moveable parts described above into self-contained units, referred to herein as “cassettes,” allow for ease of maintenance and replacement because cassettes are swappable, making them easier to service or requiring less of a variety in spare components. As used herein, “self-contained” means that the cassette includes everything necessary to operate in a fully functional manner if supplied with power. Thus, for example, if power is supplied to electrical contacts of the cassette, the cassette would actuate. 
         [0203]    In the illustrated embodiment, the motor is integrated onto a common baseplate along with sprockets that control the motion of a joint link. Bearings and chains, with and/or without tensioners provide smooth and efficient transfer of motion from the motor to the joint angle. Integrating the motor into the cassette allows for a thinner overall package configuration and provides consistent alignment among parts. Moreover, integrating the motor also creates a larger surface area to transfer and emit heat generated by the motor. 
         [0204]    In the instance of a mobility assistance device, as in the current invention, these cassettes may pertain to a specific joint or set of joints on the device. Each may have a unique actuation unit or share an actuation unit. They may include actuators, with or without a power source, and/or a method of transmitting movement. The illustrated embodiment includes a brushless DC motor with chains and sprockets to create and transmit motion, however other embodiments may utilize electric motors, linear actuators, piezoelectric actuators, belts, ball screws, harmonic drive, gear drive (bevel or planetary), or any combination thereof. One embodiment may also house electronics and/or sensors. 
         [0205]    The self-contained unit(s) can be preassembled to aid in manufacturing the broader device. This allows for quick servicing of the device since individual cassettes can be swapped out and serviced. 
         [0206]    Therefore, a removable, self-contained, ovular actuator cassette  500  may be receivable in a receptacle of a wearable robotic device. The cassette  500  may include a first circular portion  520  housing a motive device (e.g., an electric motor)  502 . A second circular portion  522  may be longitudinally offset and longitudinally overlapping the first circular portion and may house a first portion of a drivetrain  514 ,  516  operatively coupled to and driven by the motive device  502 . A third circular portion  524  may be longitudinally offset from the first and second circular portions and longitudinally overlapping the second circular portion and may house a second portion of the drivetrain  504 . 
         [0207]    These three overlapping circular portions make an ovular shape. Therefore, an ovular housing  530  may support the motive device  502  and drivetrain  502 ,  514 ,  516 . Long sides of the ovular housing are straight and parallel with each other and tangentially terminate as curved end surfaces of the ovular housing. 
         [0208]    An output  112 R may protrude from and be rotatable with respect to the housing and driven by the drivetrain. 
         [0209]    The housing may include a top plate  532  on which the motive device is mounted. As shown in  FIG. 20 , the drive shaft of the motive device  502  may protrude through the top plate  532 . 
         [0210]    The housing may also include a bottom plate  534  coupled to the top plate  532 . The drive train is sandwiched between and supported by the top plate  532  and the bottom plate  534 . Preferably, the motive device  502  is mounted outside the top and bottom plates on a laterally offset portion  536  of the top plate. 
         [0211]    As shown in the figures, the maximum depth of the cassette measured along a rotational axis of the motive device is less than the maximum width and the maximum length of the cassette, thereby achieving a thin, flat profile. 
         [0212]    The output  112 R may protrude through an output opening  540 . Slide covers  542  disposed in the output opening and movable with the output  112 R to cover portions of the output opening not occupied by the output may also be provided. Alternatively, brushed covers or other means known in the art may be used to protect the interior of the cassette from contamination. 
         [0213]    As discussed above, the output  112 R may be the first portion of the self-aligning, self-drawing coupler discussed above. 
         [0214]    The cassette may be disposed in an appropriate receptacle  560  of the thigh assembly. 
         [0215]    Retention System 
         [0216]    A wearable robotic device often needs to be donned and doffed under difficult circumstances, including, for example, by a user who is paralyzed. Therefore, an improved attachment system is desirable. 
         [0217]    A body assembly, for example, a hip assembly, may include an attachment device  600 ,  600 ′ for attaching to the first portion of the user&#39;s body. The attachment device may include a tensioning system  650 ,  650 ′ for retention of the first body assembly to the user&#39;s body. In preferred embodiments, the tensioning system includes both a tensionable member  652 ,  652 ′ and a tensioning member  654 ,  654 ′. 
         [0218]    As shown in  FIGS. 21 and 22 , a cable or lace  656 ,  656 ′ is threaded through a looped strap  658 ,  658 ′ and connected back onto itself. 
         [0219]    The tensioning system preferably includes a cable reel system having a cable reel  660 ,  660 ′ and a cable  656 ,  656 ′ extending from the reel, and cable guides (not shown). The reel may be a spring-loaded rotating spool that winds or unwinds the cable to either tension or untension the cable. Suitable devices to use for the reel are cable reel devices available under the name BOA from Boa Technology, Inc. of Denver, Colo., and described in U.S. Pat. Nos. 7,954,204 and 7,992,261, incorporated by reference in their entireties. The reel may be mounted to the substrate  670 ,  670 ′, as by use of plastic rivets, and the like. 
         [0220]    Preferably, the cable reel is a rotating spool that winds or unwinds the cable and, preferably includes a toothed housing configured for receiving the ends of the cable, each end rotationally linked to a spool contained within the housing of the cable reel. A knob having a spring-loaded assembly cooperates with the housing and the spool for manually winding the cable around the spool. The knob and spring-loaded assembly cooperate to engage the spool with the housing to provide a ratchet feature for winding the spool when the knob is turned in one direction to tension the cable, and for releasing the spool to untension the cable. The cable may be, for example, a nylon coated, stainless steel cable. 
         [0221]    The cable reel  660 ,  660 ′ may be mounted to a plastic support piece (not shown) that retains the housing with or without the need for other retention methods, such as thread, removable brackets, adhesives, etc. 
         [0222]    At the furthest extent, the strap does not extend beyond the plastic support base. The preferred embodiment utilizes the support base as a low friction surface for the strap to slide against and provides a larger surface area for the lace to distribute pressure. When the spool retracts the lace the strap is effectively shortened as it is pulled toward the spool at the base of the support. This shortening tightens the strap when it is attached at one end and the support is attached at another, completing a loop. 
         [0223]    As shown in  FIG. 22 , the tail of the strap  658 ′ may be is attached to a rigid structure of the body assembly at attachment anchor  664 ,  664 ′. The attachment could be permanent or temporary. A preferred method would be temporary, allowing for the entire strap to be adjusted or removed. Some methods for attachment could include threading it back on itself, hook and loop fasteners, button fasteners, or any combination of the above or other fastening method. Exemplary embodiments thread the strap  658 ′ through a series of slots to create adequate friction that secures the strap. This method allows the strap to be adjusted to accommodate a wide range of overall lengths. 
         [0224]    In exemplary embodiments, the strap may be composed of or contain hook or loop material that can be used to secure the strap to the frame at an attachment anchor  664 ′ or to attach other accessories, such as padding. 
         [0225]    As shown in  FIG. 21 , the attachment device may include a sleeve to contain the support, lace, and strap. 
         [0226]    Padding may be placed on the back side of the support  670 . This could be adhered to the support, to the sleeve (if present) or floating in place. The padding aids further in the comfort and distribution of pressure. 
         [0227]    As shown in  FIG. 28 , a mechanism for attaching the support to the frame may include a quick connect/disconnect. A preferred embodiment includes a button hole and post design, as detailed in  FIGS. 23-27 . On either the frame or the strap support  684  is a button  680  atop a post  682  and a buckle/clip  690  with a keyhole opening  692 . Preferably, the keyhole includes a first circular opening overlapping a second, larger circular opening, the larger circular opening disposed distal the first, smaller opening in relation to the button  680 . The keyhole structure allows for the buckle to slide over the larger diameter of the button head and slide tight around the post. 
         [0228]    One embodiment may include both the button/post and keyhole features to be secured to straps; when they are connected they join the two. 
         [0229]    The present invention discloses a round post that allows the buckle to revolve. Further, the bottom portion of the button head  684 , just above the connection to the post is slightly curved. This curvature allows the clip  690  to pivot. The degree of pivot is dependent on the height of the post in relation to the thickness of the buckle and the curvature of the bottom of the button relative to the diameter of the post. 
         [0230]    The button hole and post connect/disconnect method can be use independently of the tensioning strap method to secure other strapping to a frame or another strap. This buckle and clip design can be used independently or combined with other strapping methods. 
         [0231]    As disclosed above, the adjustable and removable straps allow for coarse adjustment of the attachment device, while tensioning by the cable reel allows for fine adjustment of the attachment device. 
         [0232]    AFO System 
         [0233]    The lower-leg assembly  106 L,  106 R may include an ankle foot orthotic (AFO)  700  that can be used independently or attach to a joint, such as one found on a wearable robotic device. Preferred embodiments include a quick connect/disconnect  702  between the lower-leg assembly and the rest of the robotic system so that, for example, the lower leg assembly could be worn all day, and the rest of the wearable robotic assembly could be attached when required. This can result in much quicker and easier donning and doffing, as a dedicated AFO would not have to be removed from under a shoe and replaced by an AFO integrated into a wearable robotic device. 
         [0234]    Further, as shown in  FIGS. 30 and 31 , exemplary lower-leg assemblies allow for the length to be adjusted while worn by the user or separate from the user. One embodiment may include markings to indicate total assembly length or that can be used to determine said length. 
         [0235]    The lower leg assembly  106 L includes an AFO having a plantar element  720  which may be of a rigid, thin-sheeted material. This plantar element would be placed under the sole of a user&#39;s foot, and may fit within a shoe. A leg element  722  may also be made of rigid thin-sheeted material, and may have a lower portion  724  rigidly connected to and extending upwardly from the plantar element. The lower portion of the leg element and the plantar element are adjustably coupled to the housing  726  of the lower-leg assembly. Although only the lateral side of the illustrated AFO provides load bearing support, other embodiments may bear support at the front, rear, medial, or any combination thereof. 
         [0236]    Further, exemplary embodiments may include a quick adjust mechanism  710 , shown in more detail in  FIGS. 32 and 33 , utilizing a cam lock  712  device movable by way of a manually operated lever  714  that allows for infinitely variable length between a maximum and a minimum without the use of tools or power source. 
         [0237]    Hip Wings 
         [0238]    Referring now to  FIGS. 34-39 , a hip assembly  800  includes pivoting hip wings as part of an attachment device that attaches a portion of a wearable robotic device to a user. Because these wings may be standard sizes or semi-customized or customized to the user customized to a user based on size and/or support needed based on physical limitations of the user, the wings may need to be removed on a regular basis in clinical settings. Therefore, exemplary embodiments include a quick connect/disconnect mechanism that is manually operable (i.e. operable without tools). 
         [0239]    An exemplary wearable robotic device includes a hip assembly  800  attachable to a hip region of a user&#39;s body and coupled to another body assembly (e.g., a thigh assembly) and rotatable with respect to the first body assembly via a motive device housed in at least one of the first body assembly or the hip assembly. The hip assembly includes a rigid housing  810  and a removable attachment device or hip wing  820  attachable to the hip region of a user&#39;s body and removable from the rigid housing by operation of a manually operable removal mechanism  830 . 
         [0240]      FIG. 35  shows a detailed view of the hip assembly with the hip wing  820  removed and the removal mechanism  830  visible. 
         [0241]      FIG. 36  shows another detailed view of the hip assembly, this time with a portion of the rigid housing  810  removed for clarity. As is evident, the removal mechanism may be a quick-release hinge pin. 
         [0242]    The removal mechanism  830  includes a central guide cylinder  832  housing a spring  834  longitudinally outwardly biasing first and second finger-operated pins  836 ,  838  slidably disposed on opposite longitudinal sides of the guide cylinder. These pins or end caps act as hinges when installed with the wings on the rigid housing. When the end caps are pinched together, compressing the spring, the pins retract into the ridged frame, allowing the wings to be freely removed or inserted. The guide cylinder prevents the spring from buckling during compression and may reduce friction to minimize force to activate the latch to release the wings. 
         [0243]    In exemplary embodiments the wing release is not exposed during operation. Rather, laterally extending grip portions  840 ,  842  may protrude into a battery receptacle  870 . This way, the wings cannot be removed when the battery  860  is in place because access to the removal mechanism is precluded when the battery is installed in the battery receptacle. Further, the battery may be shaped such that the battery cannot be connected if wings are only partially installed. 
         [0244]    The battery receptacle further includes electrical contacts  890  for mating with corresponding electrical contacts of the battery (not shown). 
         [0245]    Turning now to  FIGS. 40-46 , an exemplary embodiment of the hip assembly is shown at  900 . The hip assembly  900  is substantially the same as the above-referenced hip assembly  800 , and consequently the same reference numerals but indexed by 100 are used to denote structures corresponding to similar structures in the hip assembly. In addition, the foregoing description of the hip assembly  800  is equally applicable to the hip assembly  900  except as noted below. Moreover, it will be appreciated upon reading and understanding the specification that aspects of the hip assemblies may be substituted for one another or used in conjunction with one another where applicable. 
         [0246]    The hip assembly includes a rigid housing  910  and a removable attachment device or hip wing  920  attachable to the hip region of a user&#39;s body and removable from the rigid housing by operation of a manually operable removal mechanism  930 . 
         [0247]      FIG. 41  shows a detailed sectioned view of the hip assembly with the hip wing  920  detached from the rigid housing  910  and the removal mechanism  930  visible. In this case, the removal mechanism is a combination of features that will be described further below. It is noted that more than one removal mechanism  930  may be included on each hip wing  920 . For example, the depicted hip wing includes upper and lower attachment portions  921 ,  923 , and each of these attachment portions may include one or more attachment points  925 ,  927 . 
         [0248]    The hip wing/removable attachment device  920  includes a hooked hinge portion  922  with an inner hook surface  924  and an outer hook surface  926 . The outer hook surface partially circumscribes a rotational axis  932  of the hip wing when the hip wing is attached to the rigid housing. 
         [0249]    The inner hook surface  924  engages with the hinge pin  932  and the removable attachment device rotates around the hinge pin when attached to the rigid housing. Optionally, the hinge pin  932  extends axially through the rigid housing  910  and acts as a hinge pin for every attachment point of the hip wing  920 . Optionally, the inner and or outer hook surfaces  924 ,  926  are circular. If the hinge pin is also circular, the inner hook surface  924  may contact the hinge pin along the entire extent of the inner hook surface, or at least the portion thereof that is also circular. 
         [0250]    The hook portion  922  has an opening  928  into which the hinge pin  932  passes when attaching and detaching the hip wing  920 . This opening  928  is optionally the same width as the diameter of the hinge pin  932 , therefore allowing unimpeded attachment and detachment. Alternatively, the opening  928  may be larger and may taper inwardly in order to more easily guide and attach the hooked portion  922  onto the pin  932 . Alternatively, the opening may include a portion that is narrower than the hinge pin so as to produce a positive detent snap-connection between the hinge pin  932  and the hook portion  922  via spring-like deformation of the hook portion  922 . 
         [0251]    The rigid housing  910  includes a radially inward facing hinge guide surface  934  radially offset from and partially circumscribing the hinge pin  932 . The outer hook surface  924  may engage the hinge guide surface  934  such that the hooked hinge portion  922  is sandwiched between the hinge pin  932  and the hinge guide surface  934  when the hip wing is attached to the rigid housing. 
         [0252]    The rigid housing includes a detachment pocket  935  into which the hooked hinge portion  922  may be slid to disengage the hooked hinge portion from the hinge pin  932  to detach the hip wing from the rigid housing  910 . In  FIG. 41 , the hooked hinge portion  922  is in the detachment pocket  935 . 
         [0253]    Optionally, the detachment pocket includes a flat wall  936  that acts with a flat portion  929  of the outer hook surface  926  to provide a positive stop for a user when attaching the hip wing to the rigid housing. The detachment pocket  935  is adjacent the guide surface  934  and is deep enough for the hooked hinge portion  922  to clear the hinge pin  932  so as to allow complete removal of the hip wing  920  from the rigid housing  910 . 
         [0254]      FIG. 42  shows the hip wing being slid onto the hinge pin  932  from the position shown in  FIG. 41 .  FIG. 43  shows the hip wing being rotated out to a “normal” or “operative” position to engage the hooked hinge portion  922  with the guide surface  934  from the position shown in  FIG. 42 . Removal of the hip wing  920  from the rigid housing  930  may be accomplished by the opposite order of movements shown in  FIGS. 41-43 . In particular, a method for removing the hip wing includes rotating the hip wing about the hinge pin until the hooked hinge portion  922  is aligned with the pocket  935 . This rotational movement is preferably a rotation of the hip wing inward toward the middle of the rigid housing. This movement disengages the hooked hinge portion  922  from the guide surface  934 . Once aligned, the hooked hinge portion  922  is slid into the pocket  935  to disengage from the hinge pin  932 . Finally, the hip wing  920  may be removed from the rigid housing. 
         [0255]    The foregoing manual removal method has the advantage of preventing accidental or purposeful removal of the hip wing during use of the wearable robotic device. In particular, the body of the user would prevent rotation of the hip wing inwardly toward the middle of the rigid housing, therefore, the hooked hinge portion would be prevented from disengaging with the guide surface and the hinge pin. 
         [0256]    Because this manual removal method and system does not require access to the interior of the rigid housing, exemplary embodiments may optionally include an integral or permanently-installed battery, in contrast to the removable battery described above.  FIG. 44  shows such a permanently installed battery  960  in the rigid housing of the hip assembly.  FIG. 45  shows an exemplary hip assembly from the back side, and it is evident that the permanently-installed battery allows for the benefit of fewer parts in this assembly (such, as for example, no need for separate battery contacts, a battery lock mechanism, or a battery latch mechanism. Furthermore, the back of the hip assembly is now able to be free of seems, allowing for a cleaner, sleeker look, more surface are for branding, a more easily-cleanable product, and fewer surface discontinuities that could catch on clothing or other environmental objects. 
         [0257]    The battery  960  may be charged via a battery port  965  which may be located anywhere that is convenient, but is preferably mounted to an underside of the hip assembly as shown in  FIG. 46 . An underside mount may have the advantage of preventing debris from the environment (such as, for example, dust and rain) from entering or blocking the battery port  965 . 
         [0258]    Although the invention has been shown and described with respect to a certain embodiment or embodiments, it is obvious that equivalent alterations and modifications will occur to others skilled in the art upon the reading and understanding of this specification and the annexed drawings. In particular regard to the various functions performed by the above described elements (components, assemblies, devices, compositions, etc.), the terms (including a reference to a “means”) used to describe such elements are intended to correspond, unless otherwise indicated, to any element which performs the specified function of the described element (i.e., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary embodiment or embodiments of the invention. In addition, while a particular feature of the invention may have been described above with respect to only one or more of several illustrated embodiments, such feature may be combined with one or more other features of the other embodiments, as may be desired and advantageous for any given or particular application.