Patent Description:
Walking is the most common form of human locomotion. Although humans adapt their gait to different terrains and in response to different tasks by varying the selected speed, years of evolution have finely tuned the musculoskeletal system to be optimized for energy expenditure. In particular, in the course of walking, we decide to adopt a walking speed which minimizes the metabolic cost spent for a fixed distance.

Despite evolution's progress, humans experience reduced walking capacity for a number of reasons (e.g., aging and muscle atrophy, fatigue from prolonged exertion, etc.). For example, the elderly undergo a reduction of muscle mass (sarcopenia) which in turn leads to a decrease in the preferred walking speed. Furthermore, since this reduction of muscle mass affects the distal muscle groups more than the proximal, there is a change in the overall mechanics of walking. Therefore, while in a young adult the ankle joint is the main source of mechanical work to power walking, the mass reduction of the muscles spanning this joint lead to the hip joint being the main contributor to mechanical work in the elderly.

In addition to a reduced walking speed, there is a reduction in stability associated with aging. The decrease in stability is associated with an increased risk of falls, which is the leading cause of accidental death and injury-related visits to emergency departments. As such, costs associated with the treatment of fall-related injuries are high and assistive devices that can prevent people from falling can represent an impactful solution to this problem.

Reduction of walking speed and increased instability induce an overall reduced mobility in various population groups, e.g., the elderly. As a consequence, affected population groups tend to walk slower and for shorter distances, are generally less active, and do not perform a sufficient amount of physical exercise. As such, high blood pressure, increase of cardiovascular risks, obesity, and other diseases associated with inactivity have a higher incidence in low mobility groups, such as the elderly.

Recent technical developments have produced robotic assistive devices to improve walking and reduce the risk of falling. These systems are generally powered by electromechanical actuators which apply a torque assisting the joints of the wearer, thus reducing the burden associated with the energetic demands of the muscles acting underneath. Walking assistive devices usually embed wearable sensors and on board controllers to detect different phases of human walking and appropriately apply electromechanical assistance. Examples of such devices can be found in the documents like <CIT> or <CIT>.

Although these systems have shown remarkable results, they are usually composed of rigid frames, which can allow the construct to sustain and transmit high assistive forces. Nevertheless, there is a high payload in terms of mass which is associated to the main frame, and the electronics and batteries which are often incorporated into these systems can severely limit the daily use of these systems as an effective tool for assisting walking. The use of batteries in conjunction with these systems, which are necessary to power the system, reduce the time of use to the duration of the power sources themselves.

In view of these and other challenges, there is a need for improved devices and systems for assistive mobility.

A walking assistive device for assisting those with reduced mobility to reduce energy used during gait and to reduce fatigue and loads on joints is defined in claim <NUM>. In some embodiments, a walking assistive device, e.g., an exoskeleton, can be coupled to one or more body parts of a user to maintain a position of the device relative to the user. The device can include a harness that can be coupled to a torso of the user and a support that can be coupled to a leg of the user. The device can also include an elastically deformable member that is coupled to the harness and the support that can expand and contract during walking strides or other body movements to reduce muscle strain and augment the metabolic cost of walking. The elastically deformable member can store and release mechanical energy during phases of the gait cycle to provide additional torque to the biological torque generated at the hip j oint. This can assist users of all mobility levels and can, in some embodiments, help augment reduced hip joint strength commonly seen in certain limited mobility groups, e.g., people of advanced age.

An exemplary embodiment of the instantly disclosed device can include an elastic and/or spring element that is anchored between two parts of the body to provide assistance to the user during movement. For example, the elastically deformable member can be anchored to the user such that the elastically deformable member extends between the torso and a portion of a leg, e.g., thigh, knee, and/or lower leg, to store energy therein, which can occur when the heel moves from a position of contact with a solid surface to being lifted from the solid surface, such as during walking strides. The stored energy can be the result of storing a percentage of positive and negative work that the leg muscle creates to initiate walking. When the device is worn during walking, the elastically deformable member can expand and contract in parallel with the leg muscles to varying lengths to assist the user by using a percentage of the stored energy to assist in hip flexion and extension, and forward motion of the raised leg prior to the leg contacting the walking surface during gait.

The elastically deformable member can include a variety of configurations. In some embodiments, the elastically deformable member can include a spring with one or more coils. Parameters such as length, thickness of the coil, the number of coils, and a material modulus of elasticity can be varied to aid adjustment for a particular user. In other embodiments, the elastically deformable member can include a compression spring, coil, wave, or washer that can be compressed by the above-described movements to change its length, which can provide assistance to the user during movement.

In some embodiments, an end of the elastically deformable member that is anchored to the harness and/or torso can be externally moved by an actuation unit, passive mechanical linkage, etc. For example, in some embodiments, movement of the member can be actively controlled or passively controlled via linkages tied to the opposite leg. The movement can act to extend or compress a spring element in a way to activate the elastic element at various points within the gait cycle. This movement can be used, for example, to turn off the functionality of the elastic element, as well as to provide additional energy to the spring element to increase the assistance provided to the wearer moved by a passive mechanical linkage with one or more components of the instantly disclosed system. By way of further example, in some embodiments expansion and relaxation of one of the members can be actively and/or passively controlled via movement of another elastically deformable member anchored to an opposite leg. The movement can extend and/or compress the member <NUM> such that it activates at various points during the gait cycle. For example, when one member <NUM> that is anchored between the torso and a first leg transitions from a relaxed state to a plurality of expanded states, a second member that is anchored to an opposite leg can transition from one of the plurality of expanded states to the relaxed state. By placing the opposite elastically deformable member into the relaxed state, the member is returned to a position of storing passive energy to prepare the member for expansion during the next leg swing.

In one aspect, a walking assistive device is provided that can include a harness, a support, and an elastically deformable member. The harness can be configured to be coupled to a torso of a user to maintain a position of the harness relative to the torso; the support can be configured to be coupled to a leg of the user to maintain a position of the support relative to the leg; and the elastically deformable member can be coupled to the harness and the support and configured to transition between a first, relaxed state and a second, expanded state during a walking stride to reduce any of force and energy required from the user during the stride.

The devices and methods described herein can have a number of additional features and/or variations, all of which are within the scope of the present disclosure. In some embodiments, for example, the elastically deformable member can exert a force onto the support and the harness to assist in any of flexion and extension of the leg relative to the torso. In certain embodiments, the elastically deformable member can store mechanical energy during transition from the first to the second state and releases mechanical energy during transition from the second state to the first state to assist the user with any of flexion and extension at the hip joint.

In certain embodiments, the elastically deformable member can be coupled to any of the harness and the support using an adjustable connecting member. Further, in some embodiments, a length of the adjustable connecting member can be changed to impart varying levels of preload on the elastically deformable member. The elastically deformable member can be passive. And in some embodiments, the elastically deformable member can include a spring or an elastomer.

In certain embodiments, the harness can be configured to be worn around a user's hips. Further, in some embodiments, the elastically deformable member can be coupled to the harness and the support using one or more of Velcro, buckles, clips, and adhesive. And in some embodiments, the device can include a connector coupled to the elastically deformable member, the connector being adapted to receive a portion of the harness therethrough. The connector can include a first opening that receives a portion of the elastically deformable member therethrough to secure the connector to the elastically deformable member, and a second opening to receive a portion of the harness therethrough to secure the connector to the harness. Further, in some embodiments, the portion of the harness can include a strap that extends from the harness.

In certain embodiments, the device can further include a second support configured to be coupled to a second leg of the user; and a second elastically deformable member coupled to the harness and the second support. In some embodiments, the harness can be coupled to the torso by encircling the torso such that a first securement feature on a first end of the harness overlays a second securement feature on a second end of the harness to maintain a position of the harness relative to the torso. Further, in some embodiments, the support can be coupled to the leg by encircling the leg such that a first securement feature on a first end of the support overlays a second securement feature on a second end of the support to maintain a position of the support relative to the leg.

In certain embodiments, the harness can include a plurality of securement features spaced a distance apart across an outer surface thereof. And in some embodiments, the support can include a plurality of securement features spaced a distance apart across an outer surface thereof. Further, in some embodiments, a circumference of the harness can be adjustable by securing the first end of the harness to any one of the plurality of securement features on the outer surface thereof. And in some embodiments, a circumference of the support is adjustable by securing the first end of the harness to any one of the plurality of securement features on the outer surface thereof.

In certain embodiments, the support can be made of one or more of neoprene, nylon, and Millerighe. In some embodiments, the harness can be made of one or more of neoprene, nylon, and Millerighe. Further, in some embodiments, the support can further include a strap that extends along a length of the support to reinforce the structure of the support and to distribute the load across the length of the support.

Any of the features or variations described above can be applied to any particular aspect or embodiment of the present disclosure in a number of different combinations. The absence of explicit recitation of any particular combination is due solely to the avoidance of repetition in this summary.

Systems and devices for assistive mobility are disclosed herein, e.g., for assisting those with reduced mobility to reduce energy used during gait and to reduce fatigue and loads on joints. In some embodiments, a walking assistive device, e.g., an exoskeleton, can be coupled to one or more body parts of a user to maintain a position of the device relative to the user. The device can include a harness that can be coupled to a torso of the user and a support that can be coupled to a leg of the user. The device can also include an elastically deformable member that is coupled to the harness and the support that can expand during walking strides or other body movements to reduce muscle strain and augment the metabolic cost of walking. The elastically deformable member can store and release mechanical energy during phases of the gait cycle to provide additional torque to the biological torque generated at the hip joint. This can assist users of all mobility levels and can, in some embodiments, help augment reduced hip joint strength commonly seen in certain limited mobility groups, e.g., people of advanced age.

Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments.

<FIG> illustrate one embodiment of a device <NUM> that can be used for assistive walking. For example, the device <NUM> can be coupled to body parts of a user such that a position of the device is maintained relative to the user. The device <NUM> can be worn to maintain comfort while reducing fatigue and loads on joints of the musculoskeletal system to ease the energetic burden associated with walking and/or maintaining proper posture during gait. As shown, the device <NUM> can include a harness <NUM>. The harness <NUM> can conform to the shape of body parts of the user, e.g., the waist and/or the hips, to allow for comfort during wear. As shown, the harness can encircle the waist of the user to couple thereto. In some embodiments, the harness can include a pad <NUM> or other features that provide additional cushion to increase comfort of the harness when worn. By conforming to the shape of the user, the harness <NUM> can maintain a low profile that allows it to be worn discretely by the user.

The device <NUM> can include one or more supports <NUM>. Each support <NUM> can connect to the harness <NUM> to create two points of contact between the hip and leg to support assistive walking. The support <NUM> can conform to the shape of body parts of the user, e.g., the thigh and/or other parts of the leg, to allow for comfort during wear. As shown, the support <NUM> can be worn around the thigh, though, in some embodiments the support can be worn around the knee and/or the lower leg. The support <NUM> can be secured to the user by one or more straps <NUM>, <NUM>. As shown in <FIG>, after the support encircles the leg, the straps <NUM>, <NUM> can be used to further secure the position of the support <NUM> relative to the leg.

The harness <NUM> and the support <NUM> can be connected by an elastically deformable member <NUM>. The elastically deformable member <NUM> can store and release mechanical energy at specific phases of the gait cycle. The elastically deformable member <NUM> can deform based on a distance between the harness and the support. The member <NUM> can deform by being stretched to increase a length thereof, as described further below, to transition the member <NUM> from a more relaxed state to one or more expanded states. The relaxed state can be a true relaxed state of the elastically deformable material or, in some embodiments, the elastically deformable material can be preloaded such that some amount of elastic deformation exists at the relaxed state. This preloading can be used to increase the forces created by the elastically deformable member, thereby providing greater assistance to a user during movement (e.g., walking).

In some embodiments, the elastically deformable member <NUM> can be customized and/or tuned based on specific characteristics of the wearer of the device <NUM>. Tuning the member <NUM> can ensure that the member is properly adjusted to provide desired levels of assistive force at desired times during the user's gait without interfering or hindering the user's movement. Tuning of the elastically deformable member <NUM> can be based on a number of parameters, including, for example, weight, height, length of leg, etc..

In some embodiments, the length, width, thickness, stiffness, and/or other parameters of the elastically deformable member can be varied to aid adjustment for a particular user. For example, a size or material of the elastically deformable member can change based on a height, weight, and/or length of the user's body parts to ensure that the device comfortably fits the user. In some embodiments, a thickness of the elastically deformable member <NUM> can be increased such that the member can absorb and exert greater forces onto the user and/or the device. For example, in some embodiments, the elastically deformable member <NUM> can be folded one, two, or three or more times when connecting the harness and the support. In such embodiments, the member can withstand greater forces and can be more resistant to breaking.

The elastically deformable member <NUM> can include a variety of configurations. In some embodiments, the elastically deformable member can be made up of layers of material. For example, the elastically deformable member can include two or more layers of a single material or different materials. Use of different materials can create a single desired net effect that, in some cases, may not be able to be achieved using a single material. The layers of materials can be tuned by selecting and layering the chosen materials to produce the desired amount of deformation, expansion, and support. In some embodiments, the layered materials can have different elasticities to allow the materials to be stretched in various directions independent of one another.

As shown, the elastically deformable member <NUM> can extend proximally from the support <NUM> to be received by a portion of the harness <NUM>, though, it will be appreciated that, in some embodiments, the elastically deformable member <NUM> can extend from the harness <NUM> to be received by a portion of the support <NUM>. The elastically deformable member <NUM> can have a broad, flat shape, as shown, that allows the member to conform to the shape of the leg to allow for comfort during wear. By conforming to the shape of the leg and deforming during use, the member <NUM> can maintain a low profile that allows it to lie substantially flat against a surface of the leg, enabling the user to be discrete about use of the device <NUM>. The elastically deformable member <NUM> can lie along the front of the leg, e.g., along the quadriceps muscle of the user, though the device can be setup such that the elastically deformable member runs along the back of the leg, e.g., the hamstring, or the side of the leg.

In some embodiments, the elastically deformable member <NUM> can include a spring with one or more coils. Parameters such as length, thickness of the coil, the number of coils, and a material modulus of elasticity can be varied to aid adjustment for a particular user. In other embodiments, the elastically deformable member <NUM> can include a compression spring, coil, wave, or washer that can be compressed to transition the member <NUM> from an expanded state to a more relaxed state to provide assistance to the user during movement.

The device <NUM> can include a connector <NUM> for attaching the elastically deformable member <NUM> to other components of the device. For example, as shown, the connector <NUM> can be attached to the elastically deformable member <NUM> to couple the support <NUM> to the harness <NUM>. The connector <NUM> can have one or more openings therein to receive the elastically deformable member and the harness therethrough. The connector <NUM> can have an arcuate shape that allows the connector <NUM> and/or the member <NUM> to conform to the shape of the leg to allow for comfort during wear. By conforming to the shape of the leg, the connector <NUM> can maintain a low profile that allows it to lie against a surface of the leg.

The connector <NUM> can be coupled to an adjustable strap <NUM> (e.g., a ratchet strap, continuously adjustable buckle strap, etc.) to couple the support <NUM> to the harness <NUM>. For example, as shown, the adjustable strap <NUM> can extend from the harness <NUM> to attach to the connector <NUM> that is coupled to the elastically deformable member <NUM>. The adjustable strap <NUM> can allow a length L of the strap to be adjusted once the support and the harness are coupled to the user. For example, in embodiments utilizing a ratchet strap, the ratchet strap can include a plurality of steps and can be moved between adjoining steps to vary a distance between the connector and the harness. Adjusting the length L of the adjustable strap <NUM> to decrease its length can preload the elastically deformable member <NUM> to change an amount of elastic deformation present at a relaxed state, which can in turn adjust an amount of force created by the elastically deformable member as it is moved from a relaxed state to a more expanded state. The amount of energy stored by the elastically deformable member <NUM> at each of the expanded states can be inversely proportional to a length L of the ratchet strap <NUM>.

As noted above, the harness can be coupled to the waist and the support can be coupled to the leg of the user, as shown in <FIG>, though other orientations of the device can also be possible, as described further below. Further, in some embodiments the device <NUM> can include a single support <NUM> and elastically deformable member <NUM> that couples to a single leg of a user, while in other embodiments the device <NUM> can include a second support construct <NUM> that includes a second support and elastically deformable member coupled to a second leg of a user.

<FIG> illustrate one embodiment of the harness <NUM> laid flat. The harness <NUM> can include one or more extensions <NUM> and a cushion <NUM>. As shown in <FIG>, the device <NUM> can include a first extension 110a and a second extension 110b that extend from the cushion <NUM>. The first and second extensions <NUM>10a, 110b can be configured to encircle a torso of a user to secure the position of the harness <NUM> with respect to the torso. In some embodiments, each of the first and second extensions 110a, 110b can include a buckle <NUM> a, 113b to secure the harness around the torso, though, in some embodiments the extensions can be tied, glued, stapled, or otherwise affixed to one another to secure the position of the harness.

In some embodiments, the harness <NUM> can include securement features (not shown, e.g., hook and loop fasteners) thereon for securing the harness to the user. The securement features can be uniformly distributed along a length of an outer surface of the harness <NUM>, though, in some embodiments, the outer surface can include a single securement feature thereon. The securement features can interface with one another in a variety of ways. One or more of the securement features can include hooks that are shaped so as to attach to corresponding loops in corresponding securement features. For example, a first end of the harness <NUM> can include a securement feature that overlays a second securement feature located at a second end of the harness to maintain the position of the harness <NUM> relative to the torso. A circumference of the harness <NUM> can be adjustable by securing the first end of the harness to another of the plurality of securement features positioned along the outer surface of the harness to fit users of different sizes. Additional belts and/or straps can also be used to reinforce the structure of the harness and its anchor points to distribute the load across the harness and to decrease chafing which may be experienced by the body part to which it is coupled.

The cushion <NUM> can abut one or more body parts to secure the harness <NUM> to a user. As shown in <FIG> and <FIG>, the cushion <NUM> can include an interior surface <NUM> and an exterior surface <NUM>. The interior surface <NUM> can include one or more interfaces <NUM> that align with body parts to allow for comfortable coupling of the harness. The cushion <NUM> can be positioned relative to the user such that the harness <NUM> can be light, comfortable, breathable, and compliant when worn by the user. One or more of the interior surface <NUM>, the exterior surface <NUM>, and the interfaces <NUM> can be made from nylon, neoprene, punctured neoprene, Millerighe, and other soft and/or elastic material to reinforce the structure and the anchor points of the harness <NUM> to distribute the load of the device <NUM> while minimizing chafing and/or irritation to the skin during wear. As shown, the cushion <NUM> can extend throughout an intermediate portion of the harness <NUM> such that cushion <NUM> is positioned along a portion of the user's back when worn, though, in some embodiments the cushion can extend along an entire length of the harness. The cushion can also have a variety of shapes.

The harness <NUM> can include one or more securement points <NUM> thereon. The securement points <NUM> can be configured to couple the harness to remaining components of the device <NUM>. As shown in <FIG>, the securement points <NUM> can be positioned on either side of a midline of a user wearing the harness <NUM> to align with each leg of the user. The securement points <NUM> can extend distally from the harness <NUM> when worn to couple to the connector <NUM> and/or the elastically deformable member <NUM>. The securement points <NUM> can be diamond shaped, as shown, though, in some embodiments, the securement points <NUM> can be linear, square, rectangular, and triangular, among others. In some embodiments, three or more securement points can be used to couple the harness to the remaining components.

The securement points <NUM> can be configured to be slidably coupled to the harness <NUM> to adjust a position of the securement points relative to the harness. For example, as shown, the securement points <NUM> can be folded back onto itself into a folded orientation to form an opening therein (not shown). The securement points can be secured in a variety of ways to maintain their folded orientation. As shown, fasteners <NUM> located on opposite ends of the securement point <NUM> can snap into one another to maintain the folded orientation of the securement points. In some embodiments, one or more hooks, straps, hook and loop fasteners, glue, needles, and other similar features can be used in lieu, or in addition to, the illustrated fasteners to maintain the securement points in the folded orientation. In some embodiments, one, two, or three or more fasteners can be located along surfaces of the securement points <NUM> to further secure the folded orientation.

The securement points <NUM> can be positioned along the harness <NUM> to determine a position of the coupling with the elastically deformable member <NUM>, though, in some embodiments, the securement points can be integrally coupled to the harness <NUM>. Each securement point <NUM> can include the adjustable strap <NUM> attached thereto and extending distally therefrom. The adjustable strap <NUM> can couple to the securement point <NUM> by snapping thereto, though, in some embodiments, the strap <NUM> can wrap around a portion of the harness <NUM> or a feature coupled thereto, e.g., a "D" ring, etc. Note that an adjustable strap <NUM> need not be included in every embodiment. In some embodiments, a fixed length strap <NUM>', e.g., a simple length or loop of material, as shown in <FIG>, can be provided if length adjustment is not required. In such embodiments, the elastically deformable member <NUM> and/or the connector <NUM> can be disposed in an opening <NUM>' of the fixed length strap <NUM>'.

The harness <NUM>' can be coupled to a torso of the user, as shown, though, in some embodiments, the harness can include shoulder straps <NUM>', as shown in <FIG>, or can be coupled to the chest, shoulders, and/or other body parts of the user. In some embodiments, the harness <NUM> can be a one-piece shirt that is worn by the user to evenly distribute the weight and forces of the device to increase user comfort.

<FIG> illustrate one embodiment of a support <NUM>. The support <NUM> can be attached to the thigh of the user to secure the position of the support <NUM> with respect to the thigh, though the support <NUM> can be secured to other body parts, such as the lower leg, other parts of the leg, the arm, and/or the shoulder, among others. The device <NUM> can use two supports, though, in some embodiments one, three, or another number of supports can be used. Each support <NUM> can be coupled to a different leg in some embodiments, though, in certain embodiments, multiple supports can be coupled to a single leg (e.g., at a user's thigh and lower leg, etc.). In some embodiments, the support can be coupled to the front of the thigh, as shown in <FIG>, though, in other embodiments the support can extend along the back and/or the side of the leg.

The support <NUM> can include an inner surface <NUM> and an outer surface <NUM>. As shown in <FIG>, the inner surface <NUM> can include a receiving portion <NUM> that is configured to abut body parts, e.g., the thigh of the user, during wear. As shown, the receiving portion <NUM> can include a cushion portion <NUM> and one or more friction surfaces <NUM>. The cushion portion <NUM> can be made from neoprene that can be used for comfort and padding during wear. The friction surfaces <NUM> can abut the thigh to assist in maintaining the position of the support <NUM>. The friction surfaces <NUM> can be made from elastic tape with insertions of silicone to improve grip, increase friction, and avoid slippage of the support. Two friction surfaces <NUM> are shown, though, one, three, or another number of friction surfaces can be used. The cushion portion <NUM> can be located between the friction surfaces <NUM>, as shown, though, in some embodiments, the friction surfaces can be disposed on the same side of the cushion portion <NUM>.

The outer surface <NUM> can include securement features thereon. For example, once the support is positioned around the leg such that the thigh rests in the cushion portion <NUM>, the ends of the support can encircle the thigh to couple the support to the leg to maintain a position of the support relative to the leg. The securement features on the support <NUM> can couple to the outer surface <NUM> along the support <NUM> to secure the support to the leg. One or more straps can be coupled to the support for further securing the support to the user. A circumference of the support <NUM> can be adjustable by securing the first end of the support to another of the plurality of securement features that can be positioned along the outer surface of the support to fit users of different sizes. Additional belts and/or straps can also be used to reinforce the structure of the support and its anchor points to distribute the load across the support to decrease chafing which may be experienced by the body part to which it is coupled.

As shown in <FIG>, each support <NUM> can include two straps <NUM>, <NUM> coupled to the outer surface <NUM>, though, in some embodiments one, three, or more straps can be used. The first strap <NUM> can include one or more securement features 136a thereon (e.g., a first type of hook and loop fastener, etc.). The securement features 136a can be uniformly distributed along a length of the strap <NUM>, as shown in <FIG>, though, in some embodiments, other configurations can be used. The strap <NUM> can also include a securement feature 136b (e.g., a second type of hook and loop fastener) at an end thereof that can be configured to overlay the securement feature 136a such that when the support encircles the body part, e.g., the leg of the user, the securement features 136a, 136b secure the position of the support <NUM> relative to the thigh. Some non-limiting examples of the securement features can include soft elastics, buckles, clips, adhesive, and hook and loop fasteners (e.g., Velcro), among others, to allow for comfort and reduce compression when the support is worn, while also sustaining sufficient friction to maintain the position of the support <NUM> relative to the thigh.

Returning to <FIG>, in some embodiments the support can include a second strap <NUM> having a securement feature <NUM> (e.g., a first type of hook and loop fastener) disposed on an end thereof. In use, the strap <NUM> can be wrapped around a user's leg and secured to a securement feature <NUM> (e.g., a second type of hook and loop fastener) on an outer surface <NUM> of the support. While this configuration is different from that shown for the strap <NUM>, other configurations are possible (e.g., matching the securement features 136a, 136b of the strap <NUM>, etc.).

The securement features <NUM>, <NUM>, <NUM> can interface with one another in a variety of ways. One or more of the securement features <NUM>, <NUM>, <NUM> can include hooks and/or loops that are shaped so as to attach to corresponding hooks and/or loops located on opposite securement features <NUM>, <NUM>, <NUM>. For example, as shown in <FIG>, the first strap <NUM> can include the additional securement feature 136b having a series of hooks that overlays one or more second securement features 136a having a series of loops located along the first strap <NUM> to intertwine the hooks and loops to secure the first strap thereto. In some embodiments, the support <NUM> can include a buckle <NUM> through which one or more straps can be inserted. Once inserted therethrough, the first strap <NUM> can be bent back onto itself such that hooks of the securement feature 136b of the first strap <NUM> intertwine with the loops of the securement features 136a on the first strap <NUM> to further secure the support to the leg. Similarly, in some embodiments, the second strap can include the additional securement feature <NUM> having a series of hooks thereon that overlays the strip <NUM> having a series of loops located thereon to intertwine the hooks and loops to secure the second strap thereto.

In use, the support <NUM> can be wrapped around the thigh to couple the support to the leg. Each of the straps <NUM>, <NUM> can then be wrapped around the outer surface <NUM> of the support <NUM> to further secure the support. For example, securement features on the first end of the first strap <NUM> having hooks thereon can wrap around the support <NUM> to put additional pressure on the support. After being wrapped around the support, the first strap <NUM> can pass through the buckle <NUM> and be folded back onto itself such that the hooks of the securement feature 136b on the first strap <NUM> couples to one of the securement features 136a having loops positioned along the first strap <NUM>. The second strap <NUM> can then wrap around the support to allow the securement feature <NUM> thereon to couple to the strip <NUM> positioned along the outer surface <NUM> of the support. In some embodiments, the securement features 136b on the first end of the first strap <NUM> can include loops thereon that are configured to intertwine with hooks of the securement features 136a of the first strap.

The outer surface <NUM> can include a holder <NUM> to secure the elastically deformable member to the support <NUM>. As shown in <FIG>, the holder <NUM> can extend from the outer surface across a distance of the support. The holder <NUM> can include a strap of material that is coupled to the support at a plurality of points such that the holder can be offset from the outer surface <NUM> of the support to form an opening <NUM> therethrough. In some embodiments, an inner surface of the holder <NUM> can include one or more securement features thereon (not shown). One or more features of the device <NUM> can be inserted through the opening and/or wrapped around the holder <NUM> to couple the support to remaining components of the device <NUM>. For example, a portion of the elastically deformable member <NUM> can be passed through the opening <NUM> of the holder <NUM> and the outer surface <NUM> to secure the elastically deformable member to the support, as described further below. In some embodiments, the elastically deformable member <NUM> can have securement features thereon that are configured to couple to the securement features on the inner surface of the holder <NUM> to secure the position of the member <NUM> relative to the support <NUM>. In some embodiments, and as shown in <FIG>, a securement patch <NUM> can be positioned on the outer surface <NUM> to interface with securement features on the elastically deformable member <NUM> to further secure the position of the member relative to the support. In some embodiments, the securement feature <NUM> of the second strap <NUM> can extend past the strip <NUM> to interface with the securement patch <NUM> to further secure the second strap to the support <NUM>.

<FIG> illustrate an embodiment of the elastically deformable member <NUM>. The elastically deformable member <NUM> can be anchored to the user such that the elastically deformable member <NUM> extends between the torso and a portion of a leg, e.g., thigh, knee, and/or lower leg, to provide assistance to the user during movement. For example, in some embodiments, the elastically deformable member <NUM> can couple the harness <NUM> and the support <NUM>. The elastically deformable member <NUM> can be configured to transition from a first, relaxed state to one of a plurality of expanded states. In the expanded states, the elastically deformable member <NUM> can have a greater length so as to allow the distance between the harness <NUM> and the support <NUM> to increase, such as stretching during changes in leg position relative to the torso. which can occur when the heel moves from a position of contact with a solid surface to being lifted from the solid surface, such as during walking strides. The ability of the elastically deformable member <NUM> to change its length, flex, extend, and retract can allow for a more natural stride during wear and can reduce an amount of force and energy exerted by the user during walking.

In some embodiments, an end of the elastically deformable member <NUM> that is anchored to the harness and/or torso can be externally moved by an actuation unit, though, in some embodiments, the member <NUM> can be moved by a passive mechanical linkage with one or more components of the instantly disclosed system. For example, expansion and relaxation of one of the members <NUM> can be actively and/or passively controlled via movement of another elastically deformable member <NUM> anchored to an opposite leg. The movement can extend and/or compress the member <NUM> such that it activates at various points during the gait cycle. When one member <NUM> that is anchored between the torso and a first leg transitions from a relaxed state to a plurality of expanded states, a second member that is anchored to an opposite leg can transition from one of the plurality of expanded states to the relaxed state. By placing the opposite elastically deformable member <NUM> into the relaxed state, the member <NUM> is readied to store energy during the next leg swing.

In some embodiments, the elastically deformable member <NUM> can be coupled to the harness and to the support with fabric <NUM>, hook and loop fasteners (e.g., Velcro), buckles, and/or clips to secure the member to the components of the device. For example, one or more strips of fabric and/or hook and loop fasteners can be placed on a surface of the elastically deformable member <NUM>, as shown. The elastically deformable member <NUM> can then be inserted through the opening <NUM> between a central portion of the holder <NUM> and the outer surface <NUM> of the support such that the fabric <NUM> on the elastically deformable member <NUM> couples to the securement patch <NUM>. In some embodiments, the fabric <NUM> can couple to one or more securement features on the inner surface of the holder <NUM> to dispose the member <NUM> between the holder <NUM> and the outer surface <NUM> to couple the member <NUM> to the support <NUM>. In some embodiments, the elastically deformable member <NUM> can be glued to the support <NUM> and/or other components of the device.

In some embodiments, the elastically deformable member <NUM> can include one or more grippers <NUM> on a surface thereof. As shown in <FIG>, the grippers <NUM> can be located on a surface opposite the fabric <NUM>, though, in some embodiments, the gripper can be located on the same surface as the fabric <NUM>. The gripper can contact a portion of the holder to maximize friction at the interface between the holder <NUM>, the outer surface <NUM>, and the elastically deformable member to further secure the position of the member <NUM> between the holder <NUM> and the outer surface <NUM>. The gripper can be made from high friction material, such as rubber and nylon, among others, to resist motion of the elastically deformable member with respect to the materials of the holder <NUM> and the outer surface <NUM>.

The elastically deformable member <NUM> can be a passive element that stores mechanical energy therein that can be used during its transition from the expanded to the relaxed state. The stored energy can be the result of storing a percentage of positive and negative work that the leg muscle creates when walking. The elastically deformable member <NUM> can include a spring or elastomer to transition between the first, relaxed state and one of the expanded states. For example, the elastically deformable member <NUM>, in its relaxed state, can be coupled to the harness and the support that are secured to the user in a resting position. A length of the elastically deformable member <NUM> can be expanded to preload the member <NUM> with mechanical energy that can be used to assist with walking. The degree to which the elastically deformable member <NUM> is expanded, and therefore the amount of energy stored therein, can be adjusted by the length L of the adjustable strap <NUM>, as described above. The preload of the elastically deformable member <NUM> can be setup to control length, tension, and other parameters that are based on biomechanical knowledge to augment human walking. During gait, the elastically deformable member <NUM> can exert a force onto each of the support <NUM> and the harness <NUM> to assist in relative flexion or extension therebetween. In some embodiments, the elastically deformable member extends substantially parallel to leg muscles, e.g., the quadriceps, that can similarly flex and extend while a user walks. When the device <NUM> is worn during walking, the elastically deformable member <NUM> can expand and contract in parallel with the leg muscles to varying lengths to assist the user by using a percentage of the stored energy to assist in hip flexion and extension, and forward motion of a raised leg prior to the leg contacting the walking surface during gait.

The elastically deformable member <NUM> can include a cover <NUM> having one or more securement features <NUM>, e.g., buttons, thereon. The cover <NUM> can include a piece of fabric having one or more securement features thereon. The cover can have a variety of shapes, e.g., rectangular, square, triangular, and so forth. As shown in <FIG>, the cover <NUM> can include four buttons positioned at the corners thereof. The securement features <NUM> can be configured to couple the member to the support <NUM> and the harness <NUM>. While four securement features <NUM> are shown, three or fewer, or alternatively, five or more securement features can be disposed along the cover <NUM>. The cover <NUM> can be flexible so as to be bent to allow each securement feature <NUM> to couple to a corresponding securement feature on an opposite end of the cover to form an opening (not shown) therebetween. In some embodiments, clips, glue, or hook and loop fasteners can be used in addition to or in lieu of buttons. In some embodiments, the cover can include additional securement features, e.g., hook and loop fasteners, disposed along the surface thereof to further secure the cover to the elastically deformable member <NUM> and any object disposed in the opening thereof. Objects can be placed in the opening to assist in establishing the connection between the support <NUM> and the harness <NUM>.

The elastically deformable member <NUM> can be coupled to a connector <NUM> at a distal end thereof. One embodiment of the connector <NUM> is illustrated in <FIG>. The connector <NUM> is a rigid component that can be the interface between the harness <NUM> and the support <NUM> having the elastically deformable member <NUM> coupled thereto. In some embodiments, the connector <NUM> can withstand loads exerted thereon by the elastically deformable member <NUM> during flexion and extension of the leg during walking.

The connector <NUM> can include an opening <NUM> that can be configured to receive the cover <NUM> therethrough. As shown in <FIG>, a proximal end of the cover <NUM> can be threaded through the opening <NUM> and folded back onto itself to snap the securement features <NUM> to one another to secure the connector <NUM> thereto. A position of the connector <NUM> can be adjusted during initial attachment of the support to the harness to change a distance between the harness <NUM> and the support <NUM> in the relaxed state. The ability to adjust a distance between the connector <NUM> and the adjustable strap <NUM> can vary the levels of preload that the elastically deformable member <NUM> can impart onto the device <NUM>, as described in detail above.

The connector <NUM> can include a bore <NUM> that can be configured to receive the adjustable strap <NUM> or another feature of the harness <NUM> therethrough. Once the strap <NUM> is wrapped, tied, glued, or otherwise affixed around the harness, the distance between the harness and the support can be adjusted to determine the preload that the elastically deformable member <NUM> can impart onto on the elastically deformable member <NUM>. Adjustment of the preload onto the elastically deformable member <NUM>, e.g., by expanding the length of the member, can result in increased support forces provided by the device. The bore <NUM> can be smaller than the opening <NUM>, as shown, though, in some embodiments, the bore can be the same size, or larger than the opening <NUM>.

The connector <NUM> can be made using <NUM>-D printing with a polymer material or another machinable material adapted to withstand forces exerted. As shown, the connector <NUM> can assume an arcuate shape that allows the connector to conform to the leg of the user, though, in some embodiments, the connector can be straight, or curved in multiple planes.

<FIG> illustrate another embodiment of a device <NUM> that can be used for assistive walking. For example, the device <NUM> can be coupled to body parts of a user such that a position of the device is maintained relative to the user. The device <NUM> can be worn to maintain comfort while reducing fatigue and loads on joints of the musculoskeletal system to ease the energetic burden associated with walking and/or maintaining proper posture during gait. As shown, the device <NUM> can include a harness <NUM>. The harness <NUM> can conform to the shape of body parts of the user, e.g., the waist and/or the hips, to allow for comfort during wear. As shown, the harness can encircle the waist of the user to couple thereto. In some embodiments, the harness can include a pad (not shown) or other features that provide additional cushion to increase comfort of the harness when worn. By conforming to the shape of the user, the harness <NUM> can maintain a low profile that allows it to be worn discretely by the user.

The connector <NUM> can be coupled to an adjustable strap <NUM> (e.g., a ratchet strap, continuously adjustable buckle strap, etc.) to couple the support <NUM> to the harness <NUM>. For example, as shown, the adjustable strap <NUM> can extend from the harness <NUM> to attach to the connector <NUM> that is coupled to the elastically deformable member <NUM>. The adjustable strap <NUM> can allow a length L1 of the strap to be adjusted once the support and the harness are coupled to the user. For example, in embodiments utilizing a ratchet strap, the ratchet strap can include a plurality of steps and can be moved between adjoining steps to vary a distance between the connector and the harness. Adjusting the length L1 of the adjustable strap <NUM> to decrease its length can preload the elastically deformable member <NUM> to change an amount of elastic deformation present at a relaxed state, which can in turn adjust an amount of force created by the elastically deformable member as it is moved from a relaxed state to a more expanded state. The amount of energy stored by the elastically deformable member <NUM> at each of the expanded states can be inversely proportional to a length L1 of the ratchet strap <NUM>.

As noted above, the harness <NUM> can be coupled to the waist and the support <NUM> can be coupled to the leg of the user, as shown in <FIG>, though other orientations of the device <NUM> can also be possible, as described further below. Further, in some embodiments the device <NUM> can include a single support <NUM> and elastically deformable member <NUM> that couples to a single leg of a user, while in other embodiments the device <NUM> can include a second support construct <NUM> that includes a second support and elastically deformable member coupled to a second leg of a user.

<FIG> illustrates an embodiment of the harness <NUM> laid flat. The harness <NUM> can include one or more extensions <NUM> that extend between first and second ends of the harness <NUM>. As shown in <FIG>, the device <NUM> can include a first set of extensions 210a and a second set of extensions 210b that extend along the harness. The first and second sets of extensions 210a, 210b can be configured to encircle a torso of a user to secure the position of the harness <NUM> with respect to the torso. Each set of extensions 210a, 210b can include one or more buckles for coupling the sets of extensions to one another. For example, as shown, the first set of extensions 210a can include a pair of buckles 211a, 211b that are configured to be received in corresponding buckles 213a, 213b of the second set of extensions 210b. In some embodiments, the first and second sets of extensions 210a, 210b can include a single buckle, though, arrangements of three or more buckles are possible. In additional embodiments, the extensions 210a, 210b can be tied, glued, stapled, or otherwise affixed to one another to secure the position of the harness.

<FIG> illustrates the various components of the harness <NUM> in greater detail. As shown, the harness <NUM> can include a base <NUM>, an airmesh <NUM>, a ripstop <NUM>, and a coupler <NUM>. The base <NUM> can include an elastic material that abuts the torso of the user. The base <NUM> can stretch to conform to the geometry of the user to minimize slippage of the harness <NUM> when worn. In some embodiments, the base <NUM> can include a pad (not shown) or other features that provide additional cushion to increase comfort of the harness when worn.

In some embodiments, the base <NUM> can include securement features (e.g., hook and loop fasteners) <NUM> thereon for securing the harness to the user. The securement features <NUM> can be uniformly distributed along a length of an outer surface of the harness <NUM>, though, in some embodiments, the outer surface can include a single securement feature thereon. The securement features <NUM> can interface with one another in a variety of ways. One or more of the securement features <NUM> can include hooks that are shaped so as to attach to corresponding loops in corresponding securement features. For example, a first end of the harness <NUM> can include a securement feature 222a that overlays a second securement feature 222b located at a second end of the harness <NUM> to maintain the position of the harness <NUM> relative to the torso. A circumference of the harness <NUM> can be adjustable by securing the first end of the harness <NUM> to another of the plurality of securement features positioned along the outer surface of the harness to fit users of different sizes. Additional belts and/or straps can also be used to reinforce the structure of the harness <NUM> and its anchor points to distribute the load across the harness and to decrease chafing which may be experienced by the body part to which it is coupled.

The airmesh <NUM> can include an exterior surface <NUM> and an interior surface <NUM> that cushions the harness for the user. The interior surface <NUM> can abut an exterior surface of the base <NUM> or, in some embodiments, protrudes through and/or around the base <NUM> to abut the torso of the user. In some embodiments, the position of the airmesh <NUM> with respect to the base <NUM> can form one or more channels that allow the extensions 210a, 210b to pass therethrough. Passing the extensions 210a, 210b through the channels such that the majority of the extensions remain disposed therein minimizes the risk of the extensions being ripped or hooked onto outside surfaces and/or clothing, which would cause slippage and tearing of the harness <NUM>.

As shown, the interior surface <NUM> can include a cushion <NUM> having one or more interfaces <NUM> that align with body parts to allow for comfortable coupling of the harness. The cushion <NUM> can be positioned relative to the user such that the harness <NUM> can be light, comfortable, breathable, and compliant when worn by the user. One or more of the exterior surface <NUM>, the interior surface <NUM>, and the interfaces <NUM> can be made from nylon, neoprene, punctured neoprene, Millerighe, and other soft and/or elastic material to reinforce the structure and the anchor points of the harness <NUM> to distribute the load of the device <NUM> while minimizing chafing and/or irritation to the skin during wear. As shown, the cushion <NUM> can extend throughout an intermediate portion of the harness <NUM> such that cushion <NUM> is positioned along a portion of the user's back when worn, though, in some embodiments the cushion can extend along an entire length of the harness. The cushion <NUM> can also have a variety of shapes.

The ripstop <NUM> can be disposed external to the airmesh <NUM> such that the ripstop overlays at least a portion of the airmesh <NUM>. The ripstop <NUM> functions to provide structural support and prevent propagation of rips, should they develop in the other materials of the harness. The ripstop <NUM> can be formed from nylon, though, as will be appreciated by one skilled in the art, is not limited strictly to this material.

The coupler <NUM> can include one or more securement points <NUM> thereon. The securement points <NUM> can be configured to couple the harness <NUM> to remaining components of the device <NUM>. For example the securement points <NUM> can include an opening <NUM> therein for receiving the adjustable strap <NUM> therethrough. The securement points <NUM> can be positioned on either side of a midline of a user wearing the harness <NUM> to align with each leg of the user. The securement points <NUM> can extend distally from the harness <NUM> when worn to couple to the connector <NUM> and/or the elastically deformable member <NUM>. The securement points <NUM> can be buckles, as shown, though, in some embodiments, the securement points <NUM> can be buttons, Velcro strips, hooks, and so forth. In some embodiments, three or more securement points <NUM> can be used to couple the harness <NUM> to the remaining components.

The securement points <NUM> can be configured to be slidably coupled to the harness <NUM> to adjust a position of the securement points <NUM> relative to the harness. For example, as shown, the securement points <NUM> can be disposed on interface of the couple <NUM> to allow the securement points <NUM> to slide along the coupler <NUM>. In some embodiments, one or more hooks, straps, hook and loop fasteners, glue, needles, and other similar features can be used in lieu, or in addition to, the illustrated fasteners to maintain the securement points in the given orientation. In some embodiments, one, two, or three or more fasteners can be located along surfaces of the securement points <NUM> to further secure the folded orientation.

The securement points <NUM> can be positioned along the harness <NUM> to determine a position of the coupling with the elastically deformable member <NUM>, though, in some embodiments, the securement points can be sewn onto or otherwise integrally coupled to the coupler <NUM> to maintain a fixed position of the securement points <NUM> relative to the harness <NUM>. Each securement point <NUM> can include the adjustable strap <NUM> attached thereto and extending distally therefrom. The adjustable strap <NUM> can couple to the securement point <NUM> by being inserted through the opening <NUM> in the securement point <NUM> and wrapping around the opening <NUM>. As shown in <FIG>, the harness <NUM> can include one or more laterally extending straps <NUM> that are configured to maintain and/or regulate a position of the adjustable strap <NUM> and the securement point <NUM>.

Note that an adjustable strap <NUM> need not be included in every embodiment. In some embodiments, a fixed length strap <NUM>', e.g., a simple length or loop of material, as shown in <FIG>, can be disposed through the opening <NUM> in the securement point if length adjustment is not required. The fixed length strap <NUM>' can be made of nylon or another textile material. In such embodiments, the elastically deformable member <NUM> and/or the connector <NUM> can be disposed in an opening <NUM>' of the fixed length strap <NUM>'. As shown, the laterally extending straps <NUM> can be used to maintain and/or regulate a position of the fixed length strap <NUM>' and the securement point <NUM>.

<FIG> illustrate an alternate embodiment of the elastically deformable member <NUM>. The elastically deformable member <NUM> can be anchored to the user such that the elastically deformable member <NUM> extends between the torso and a portion of a leg, e.g., a thigh, knee, and/or lower leg, to provide assistance to the user during movement. For example, in some embodiments, the elastically deformable member <NUM> can couple the harness <NUM> and the support <NUM>. The elastically deformable member <NUM> can be configured to transition from a first, relaxed state to one of a plurality of expanded states. In the expanded states, the elastically deformable member <NUM> can have a greater length so as to allow the distance between the harness <NUM> and the support <NUM> to increase, such as stretching during changes in leg position relative to the torso, which can occur when the heel moves from a position of contact with a solid surface to being lifted from the solid surface, such as during walking strides. The ability of the elastically deformable member <NUM> to change its length, flex, extend, and retract can allow for a more natural stride during wear and can reduce an amount of force and energy exerted by the user during walking. In some embodiments, the member <NUM> can have a width ranging from approximately <NUM> centimeters to approximately <NUM> centimeters, from approximately <NUM> centimeters to approximately <NUM> centimeters, from approximately <NUM> centimeters to approximately <NUM> centimeters, or have a value of approximately <NUM> centimeters, and a length in the relaxed state ranging from approximately <NUM> centimeters to approximately <NUM> centimeters, from approximately <NUM> centimeters to approximately <NUM> centimeters, or have a value of approximately <NUM> centimeters. It will be appreciated that the width and length of the member <NUM> can vary based on a height, weight, and/or anatomy of the patient.

The elastically deformable member <NUM> can include one or more bases <NUM> coupled thereto for coupling the member <NUM> to the harness <NUM> and to the support <NUM>. An exemplary embodiment of the support <NUM> is shown in <FIG>. For example, as shown, first and second bases241 can be placed on opposite ends of the member <NUM> for coupling the member <NUM> thereto. The member <NUM> can be wound around each base <NUM> to couple the member <NUM> thereto. The member <NUM> can be wound one time, two times, three times, or four or more times to ensure that the member <NUM> is coupled thereto. As mentioned above, in some embodiments, hook and loop fasteners (e.g., Velcro), buckles, glue, and/or clips can also be used to secure the member to the components of the device. In one embodiment, for example, the member <NUM> can be wound around one of the bases <NUM> and secured with mastic glue, while a second end of the member <NUM> can be inserted through a loop and/or with coupled with Velcro to the base <NUM> at an opposite end. As shown in <FIG>, in one embodiment the member <NUM> can be wound around a base <NUM> at each end of the member <NUM> and glue can be utilized to ensure the member does not separate from the base.

The bases <NUM> can be coupled to one or more of the connector <NUM> and grounded to supports <NUM>, as shown in <FIG>. The bases <NUM> can be received in the connector <NUM> and/or the support <NUM> to couple the member <NUM> thereto. As shown in <FIG>, the bases <NUM> can have a width that is larger than the width of the elastically deformable member <NUM> such that one or both ends of the bases <NUM> protrude from the member <NUM>. In some embodiments, the protruding ends of the bases <NUM> can be placed within the support <NUM> to couple the bases (and thereby the elastically deformable member) thereto, as shown in <FIG>, and discussed in detail further below.

The bases <NUM> can be made of a plastic material. As shown, the bases <NUM> can have a curvature to allow the bases <NUM> to flex and/or deform around the harness <NUM>, support <NUM>, or anatomy of the user. The degree of curvature of the bases <NUM> can be customized by using any of a variety of methods to plastically deform the base material (e.g., wax, heat gun, and so forth).

<FIG> illustrate an alternate embodiment of an elastically deformable member <NUM> coupled to a connector <NUM>. The elastically deformable member <NUM> can be split into multiple members along a length thereof that extend through the connector <NUM> between the bases <NUM>. For example, as shown, the elastically deformable member <NUM> can include first and second members 306a, 306b. The first and second members 306a, 306b can improve force distribution by helping to maintain the relative positioning of the elastically deformable members relative to the connector. For example, dividing the elastically deformable member as shown can be combined with passing the first and second members 306a, 306b through separate slots formed in the connector <NUM>. This can prevent the elastically deformable member from, for example, sliding or bunching to one side of the connector <NUM> in a manner that might exert too much force over a small space and break the connector <NUM>, or even simply create discomfort for a wearer. It will be appreciated that dividing the first and second members 306a, 306b in this manner and providing better force distribution can also allow the connector <NUM> to be made using less material so as to be lighter, less expensive, etc. Further, a variety of manners of dividing the elastically deformable member <NUM> are possible in other embodiments, including the use of a single member and two members as described above, as well as other embodiments in which a plurality of members are utilized. All of these modifications are considered within the scope of the present disclosure.

The elastically deformable member <NUM> can be split into the first and second members 306a, 306b throughout an entire length of the member <NUM>, or through a portion of the length thereof. For example, as shown in <FIG>, the elastically deformable member <NUM> can be attached to an inner surface of an inner base 241a as a single piece, with the elastically deformable member <NUM> being split into the first and second members 306a, 306b throughout the remaining length thereof such that the first and second members 306a, 306b are coupled to an outer base 241b, as shown in <FIG>. As noted above, having the elastically deformable member <NUM> split into multiple members can allow the elastically deformable member <NUM> to avoid slippage and/or unwanted motion relative to the connector <NUM>. It will be appreciated that, in some embodiments in which the elastically deformable member <NUM> is split into the first and second members 306a, 306b, the elastically deformable member <NUM> can be coupled and/or otherwise wound around one or more of the bases <NUM> as a single piece and subsequently cut to form separate members for ease of coupling the elastically deformable member <NUM> to the bases <NUM>. In such embodiments, the split in the elastically deformable member <NUM> can extend throughout the length thereof or terminated prior to coupling to the connector <NUM> or another base <NUM>. In some embodiments, the elastically deformable member can be split into three, or four or more members that extend between the bases <NUM>.

<FIG> illustrate an alternate embodiment of the connector <NUM> for attaching the elastically deformable member <NUM> to other components of the device. For example, as shown in <FIG>, the connector <NUM> can be attached to the first and second elastically deformable members <NUM> to couple the support <NUM> to the harness <NUM>. The connector <NUM> can be a rigid component that can be the interface between the harness <NUM> and the support <NUM> having the elastically deformable member <NUM> coupled thereto. In some embodiments, the connector <NUM> can withstand loads exerted thereon by the first and second members 306a, 306b during flexion and extension of the leg during walking. The connector <NUM> can have an arcuate shape, as shown in <FIG>, that allows the connector <NUM> and/or the first and second members 306a, 306b to conform to the shape of the leg to allow for comfort during wear. By conforming to the shape of the leg, the connector <NUM> can maintain a low profile that allows it to lie against a surface of the leg.

The connector <NUM> can have one or more openings <NUM> therein to receive the elastically deformable member and the harness therethrough. For example, the connector <NUM> can include a pair of openings 352a, 352b configured to receive the first and second members 306a, 306b therethrough, as shown in <FIG>. The openings 352a, 352b can be formed as slots in the connector <NUM> such that the first and second members 306a, 306b can be pass through and folded back onto themselves. A position of the first and second members 306a, 306b can be adjusted within each of the respective openings 352a, 352b to allow the members to slide therein, but are limited from interacting with one another to avoid tangling between respective members. Further, in some embodiments the openings 352a, 352b can be sized to match the sizes of the first and second members 306a, 306b to maintain desired positioning of the first and second members 306a, 306b. This can, as described above, ensure even distribution of forces over the connector <NUM> and allow the connector to be made with less material to be lighter, less expensive, etc. because it does not need to endure concentrated stresses from the elastically deformable member or members.

The connector <NUM> can include a bore <NUM> that can be configured to receive one or more features therein for coupling the connector <NUM> to the harness <NUM>. For example, the bore <NUM> can be configured to attach to a receiving member <NUM> that receives a portion of the adjustment strap <NUM> therein, as discussed further below. The bore <NUM> can be smaller than the openings 352a, 352b, as shown, though, in some embodiments, the bore can be the same size, or larger than the openings 352a, 352b. In some embodiments, the bore <NUM> can receive the adjustable strap <NUM> or another feature of the harness <NUM> therethrough.

<FIG> illustrate an exemplary method for coupling the connector <NUM> having the first and second members 306a, 306b disposed therein to the support <NUM> of the device <NUM>. The support <NUM> can include a holder <NUM> having one or more flaps <NUM>, <NUM> that expose an opening <NUM> through which the elastically deformable member <NUM> and bases <NUM> can pass to secure the elastically deformable member <NUM> to the support <NUM>. As shown in <FIG>, the top and bottom bases 241a, 241b having the first and second members 306a, 306b coupled thereto are passed through the opening <NUM> of the holder to be disposed within the holder <NUM>. This is done by passing the bases 241a, 241b through at an angle because the bases <NUM> can be longer than the opening <NUM> when aligned as shown in <FIG>.

The holder <NUM> can include one or more inserts <NUM> configured to receive the bases 241a, 241b therein to secure the members 306a, 306b to the support <NUM>. The inserts <NUM> can be in the form of pockets that are located along the holder <NUM> that are sized to fit the bases <NUM> therein. As shown in <FIG>, the protruding ends of the bases 241a, 241b can be positioned into the inserts <NUM> to restrict movement and pull-out of the bases from the support <NUM>. It will be appreciated that the holder <NUM> can include multiple inserts for receiving the bases therein.

Each of the bases 241a, 241b can be disposed in the inserts <NUM>, as shown in <FIG>. The bases 241a, 241b can be disposed in adjacent inserts <NUM> to couple the bases thereto. As shown, the bottom base 241a can be inserted through the opening <NUM> and disposed in the insert <NUM> further from the opening <NUM>, with the top base 241b being inserted in the adjacent insert <NUM> closer to the opening <NUM>, though the placement of the bases can vary. It will be appreciated that the length of the members 306a, 306b extending from the support <NUM> towards the harness <NUM> can be regulated by selecting the insert <NUM> in which the bases 241a, 241b are disposed. After the bases are secured thereto, the flaps <NUM>, <NUM> can be closed to further secure the bases 241a, 241b to the support and prevent pull-out, as shown in <FIG>.

<FIG> illustrates an exemplary embodiment of the receiving member <NUM> that can be coupled to the connector <NUM>. An interior surface of the receiving member <NUM> can have a mating feature (not shown) for coupling to the bore <NUM> of the connector <NUM>. The receiving member <NUM> can be configured to receive the adjustable strap <NUM> that extends from the harness <NUM> therethrough to couple the support <NUM> and the elastically deformable member <NUM> to the harness <NUM>. The receiving member <NUM> can have a receiving portion <NUM> that defines an inner lumen (not shown) for inserting the adjustable strap <NUM> therethrough. An exemplary embodiment of the receiving member <NUM> having the adjustable strap <NUM> inserted therethrough is shown in greater detail in <FIG>. As described above, the receiving member <NUM> can include a ratchet mechanism that can selectively lock its position relative to the strap <NUM> that can include a series of ridges, features, or other depressions that a pawl of the ratchet mechanism can engage. Accordingly, an initial amount of preload tension can be placed on the elastically deformable member by any of (a) selecting the insert <NUM> into which the bases <NUM> are disposed on the support <NUM>, and (b) adjusting a position of the connector <NUM> relative to the strap <NUM> using the ratchet mechanism of the receiving member <NUM>.

<FIG> illustrate an exemplary embodiment of the receiving portion <NUM> coupled to the connector <NUM> having the elastically deformable members 306a, 306b disposed therein. As shown in <FIG>, the mating feature of the receiving portion <NUM> can mate to the connector <NUM> using a screw, bolt, or another mechanism known to one skilled in the art that is received through the bore <NUM>. The receiving portion <NUM> can extend proximally from the connector <NUM> to receive the adjustment strap <NUM> therein.

The devices <NUM>, <NUM> disclosed herein can include a low profile such that the device allows clothing to be worn over the device, though, in some embodiments, a circumference of the harness and the supports can be adjusted such that it is worn over clothing. The embodiments of the devices <NUM>, <NUM> discussed herein do not include batteries, actuators, or rigid frame components, thereby adding to the low profile design of the devices <NUM>, <NUM>. In some embodiments, the devices <NUM>, <NUM> can be worn over a pair of spandex pants that are tight to the body to ensure that the device fits snuggly with respect to the leg and waist of the user. The materials used in making the harness, the support, the straps, and the elastically deformable element can be any of a variety of materials known to reduce sweat and increase comfort to the wearer.

Claim 1:
A walking assistive device (<NUM>; <NUM>), comprising:
a harness (<NUM>; <NUM>) configured to be coupled to a torso of a user to maintain a position of the harness relative to the torso;
a first support (<NUM>; <NUM>) configured to be coupled to a first leg of the user, above a knee of the user, to maintain a position of the support relative to the first leg;
a first elastically deformable member (<NUM>; <NUM>; <NUM>) coupled to the harness (<NUM>; <NUM>) and the first support (<NUM>; <NUM>), the first elastically deformable member (<NUM>; <NUM>; <NUM>) being configured to transition between a first, relaxed state and a second, expanded state during a walking stride to reduce any of force and energy required from the user during the walking stride; and
an adjustable strap (<NUM>; <NUM>) that extends from the harness (<NUM>; <NUM>) to attach to a connector (<NUM>; <NUM>; <NUM>) that is coupled to the first elastically deformable member (<NUM>; <NUM>; <NUM>), the adjustable strap being configured to allow a length of the adjustable strap (<NUM>; <NUM>) to be adjusted once the first support (<NUM>; <NUM>) and the harness (<NUM>; <NUM>) are coupled to the user;
wherein the first elastically deformable member (<NUM>; <NUM>; <NUM>) is configured to lie along the front of the first leg of the user;
wherein the walking assistive device (<NUM>; <NUM>) further comprises:
- a second support (<NUM>; <NUM>) configured to be coupled to a second leg of the user, and
- a second elastically deformable member coupled to the harness (<NUM>; <NUM>) and the second support (<NUM>; <NUM>); and
wherein the elastically deformable members are configured so that expansion and relaxation of one of the elastically deformable members is passively controlled via movement of the other elastically deformable member that is anchored to an opposite leg.