WO2025080330A2

WO2025080330A2 - Adjustable hip interface

Info

Publication number: WO2025080330A2
Application number: PCT/US2024/039775
Authority: WO
Inventors: John KUWATA; James Alden HATCH; Minerva PILLAI; Wayne Yi-Wei TUNG; Logan VAN ENGELHOVEN; Homayoon Kazerooni
Original assignee: US Bionics Inc
Current assignee: US Bionics Inc
Priority date: 2023-07-28
Filing date: 2024-07-26
Publication date: 2025-04-17
Anticipated expiration: 2026-01-28
Also published as: WO2025080330A3

Abstract

The present disclosure is directed to an exoskeleton which contains a degree of freedom for a wearer's hips or lower back. In some embodiments, the present disclosure is directed to a trunk supporting exoskeleton, which may comprise a supporting trunk, which is configured to be coupled to the wearer's trunk. The trunk supporting exoskeleton may further comprise two thigh links, which are configured to move in unison with the wearer's thighs in a manner resulting in flexion and extension of the respective thigh links relative to the supporting trunk. In some embodiments, the trunk supporting exoskeleton may further comprise at least one passive or active actuator configured to generate a torque between the supporting trunk and thigh links. In other embodiments, the exoskeleton may provide for unactuated rotation between the supporting trunk and thigh links. A trunk supporting exoskeleton may further comprise a belt or a hip interface.

Description

PCT Application

Adjustable Hip Interface

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit under 35 U.S.C. § 119(e) of US Provisional Patent Application 63/516,310 (Docket No. SUTXP006P) by John Kuwata et al., entitled: "Adjustable Hip Interface", filed on 2023-07-28, which is incorporated herein by reference in its entirety for all purposes.

GOVERNMENT LICENSE RIGHTS

[0002] This invention was made with government support under FA8222-21-C- 0001 awarded by the Department of Defense under the Small Business Innovation Research (SBIR) and the Small Business Technology Transfer (STTR) programs. The government has certain rights in the invention.

BACKGROUND

[0003] The present disclosure relates generally to exoskeletons, and more particularly to exoskeletons that provide a degree of freedom for the flexion and extension of the wearer's hips. Examples include but are not limited to trunk supporting exoskeletons to reduce muscle forces in a wearer's back, load carriage exoskeletons to transfer a supported load such as a backpack to the ground, walking assist exoskeletons configured to aid in locomotion, and medical exoskeletons configured to allow a disabled wearer to perform acts of daily living.

[0004] In general, trunk support exoskeletons, which are configured to assist a wearer in bending, lifting, and/or standing upright are known in the art. In some of these exoskeletons, a moment is created during a bend to counteract the moments from a wearer's trunk gravity weight. Conventional systems may utilize methods such as a passive spring or an active motor to create a torque between the wearer's torso and legs. By creating a restorative moment at the hip, the wearers' fatigue, muscle activation, and the probability of injury of the lumbar area of the spine is greatly reduced.

SUMMARY

[0005] The present disclosure is directed to an exoskeleton which contains a degree of freedom for a wearer's hips or lower back. In some embodiments, the present disclosure is directed to a trunk supporting exoskeleton. In general, trunk supporting exoskeletons comprise: a supporting trunk, which is configured to be coupled to the wearer's trunk, and two thigh links, which are configured to move in unison with the wearer's thighs in a manner resulting in flexion and extension of the respective thigh links relative to the supporting trunk, and in some configurations at least one passive or active actuator configured to generate a torque between the supporting trunk and thigh links. Still, in other configurations, the exoskeleton may provide for unactuated rotation between the supporting trunk and thigh links. Trunk supporting exoskeletons further comprise a belt, or hip interface. The hip interface may function to secure the exoskeleton to the hips of the person, to position the frame or actuator on the person, to transfer the weight of the exoskeleton to the person, to transfer the support forces of the exoskeleton to the person, or a combination thereof. This disclosure is directed to an adjustable hip interface that more easily positions the hip joint of the exoskeleton on the person while maintaining the properties of load and support transfer.

[0006] Trunk supporting exoskeletons often function by positioning an actuator or frame such that the axis of rotation of the exoskeleton thigh links relative to the exoskeleton supporting trunk is aligned with the axis of rotation of the person's hip joint in the sagittal plane. One method of accomplishing this is by positioning the exoskeleton's axis of rotation along the side of the person's hips. To support both legs of the person, axes of rotation must be positioned along each of the two sides of the person. Users of exoskeletons come in varying shapes and sizes, particularly of varying hip width, hip depth, and hip circumference. Belts commonly adjust in length to accommodate these variances in hip circumference but are not concerned with hip width or hip depth as they are irrelevant to a load bearing or load transferring function. However, for the proper positioning of an exoskeleton along the two sides of a person, a hip interface is required to both adjust hip circumference and differentiate between the interrelated dimensions of hip width and hip depth.

[0007] To date, exoskeletons, particularly trunk supporting exoskeletons, have used adjustable hip interfaces that have independently adjustable front and rear belts to properly position the exoskeleton's axis of rotation along the side of the wearer to align it with the person's hip joint. If the exoskeleton's axis of rotation is too far forward on the person, the front of the belt must be loosened, and the rear of the belt must be tightened. This moves the exoskeleton's axis of rotation posteriorly relative to the person's hip joint. If the exoskeleton's axis of rotation is too far backward on the person, the front of the belt must be tightened, and the rear of the belt must be loosened. This moves the exoskeleton's axis of rotation in the anterior direction. This method of independent front and rear belt adjustments is difficult to use when the belt is tight on the person because the front must first be loosened for the rear to be tightened and vice versa. Additionally, when the belt is loosened on one end to facilitate tightening on the other, it has the tendency to fall on the person. The rear adjustment location of the belt is often difficult to reach behind the body when the belt is worn, or a complicated and often frail system of remote adjustment from the front of the body must be used. When the exoskeleton is fit to the person, support forces will place tension on the rear belt and its adjustment mechanism, necessitating a robust system in addition to an easy-to- use one.

[0008] This disclosure pertains to an adjustable hip interface that allows for circumferential adjustment in addition to a simple adjustment of two separate elements, corresponding to the two exoskeleton hip joints forming the exoskeleton's axis of rotation, to be positioned along the sides of a person. The adjustable hip interface allows for the first and second side elements to be moved and fixed relative to each other while being worn by a person without loosening the circumferential setting of the belt. The mechanism leads to both increased usability and robustness of the system compared to the prior art.

[0009] Clause 1. An exoskeleton comprising: a supporting trunk configured to be attached to a trunk of a person; a thigh link configured to be attached to a thigh of the person; a hip joint configured to allow the thigh link to rotate relative to the supporting trunk about a first axis corresponding to flexion and extension of the thigh of the person; and an adjustable hip interface configured to attach the exoskeleton to hips of the person, the adjustable hip interface comprising: a belt configured to encircle hips of the person, a first element coupled to the belt and comprising an exoskeleton attachment rotatably coupled to the supporting trunk, the hip joint, or the thigh link about an attachment axis, a second element coupled the belt and comprising an exoskeleton attachment rotatably coupled to the supporting trunk, the hip joint, or the thigh link on an opposite side of the hips of the person about an attachment axis, and a locking mechanism configured to selectively allow the second element to move along the belt relative to the first element without changing an overall length of the belt, wherein, when the exoskeleton is worn by the person, the locking mechanism allows for repositioning the second element such that the attachment axis of the first element and the attachment axis of the second element are aligned with a hip flexion-extension axis of the person in a transverse plane and then fixed from moving relative to the first element along the belt in at least one direction.

[0010] Clause 2. An exoskeleton comprising: a supporting trunk configured to be attached to a trunk of a person; a thigh link configured to be attached to a thigh of the person; a hip joint configured to allow the thigh link to rotate relative to the supporting trunk about a first axis corresponding to flexion and extension of the thigh of the person; and an adjustable hip interface configured to attach the exoskeleton to hips of the person, the adjustable hip interface comprising: a belt configured to encircle hips of the person, a first element coupled to the belt and comprising an exoskeleton attachment coupled to the supporting trunk, the hip joint, or the thigh link, a second element coupled the belt and comprising an exoskeleton attachment coupled to the supporting trunk, the hip joint, or the thigh link on an opposite side of the hips of the person, and a locking mechanism configured to selectively allow the second element to move along the belt relative to the first element without changing an overall length of the belt, wherein, when the exoskeleton is worn by the person, the locking mechanism allows for repositioning the second element such that the exoskeleton attachment of the first element and the exoskeleton attachment of the second element are aligned with a hip flexion-extension axis of the person in a transverse plane and then fixed from moving relative to the first element along the belt in at least one direction.

[0011] Clause 3. The exoskeleton of clause 2 further comprising a second locking mechanism configured to selectively allow the first element to move along the belt relative to the second element without changing the length of the belt.

[0012] Clause 4. The exoskeleton of clause 2, wherein: the belt comprises a belt closure mechanism, and the first element is attached to one end of the belt closure mechanism.

[0013] Clause 5. The exoskeleton of clause 2 further comprising a coarse adjustment configured to selectively allow a section of the belt to telescope within the first element to change the length of the belt.

[0014] Clause 6. The exoskeleton of clause 5, wherein the coarse adjustment is further configured to change the distance between the first element and the second element.

[0015] Clause 7. The exoskeleton of clause 5, wherein the coarse adjustment is further configured to prevent the first element from sliding in either direction along the belt.

[0016] Clause 8. The exoskeleton of clause 5, wherein the coarse adjustment is configured to be set to one of a discrete set of sizes. [0017] Clause 9. The exoskeleton of clause 2, wherein the locking mechanism is configured to prevent the second element from moving in a forward direction along the belt.

[0018] Clause 10. The exoskeleton of clause 2, wherein the locking mechanism is spring loaded into a locked position.

[0019] Clause 11. The exoskeleton of clause 2, wherein the locking mechanism comprises a handle configured to unlock the locking mechanism and move the second element relative to the belt when the handle is pulled.

[0020] Clause 12. The exoskeleton of clause 2, wherein the locking mechanism is a cam lock configured to prevent the second element from moving only in a forward direction along the belt.

[0021] Clause 13. The exoskeleton of clause 2, wherein the locking mechanism is friction based.

[0022] Clause 14. The exoskeleton of clause 2, wherein the locking mechanism is a tri-glide.

[0023] Clause 15. The exoskeleton of clause 2, wherein the locking mechanism is coupled to the second element.

[0024] Clause 16. The exoskeleton of clause 2, wherein the locking mechanism is configured to provide a continuous range of adjustment between the second element and the belt.

[0025] Clause 17. The exoskeleton of clause 2, wherein: the belt comprises a flexible segment extending between the first element and the second element, and the flexible segment is configured to be in front of the hips of the person when the exoskeleton is worn by the person.

[0026] Clause 18. The exoskeleton of clause 17, wherein the flexible segment comprises a belt adjustment mechanism configured to change the length of the belt.

[0027] Clause 19. The exoskeleton of clause 2, wherein: the belt comprises a semi rigid segment extending between the first element and the second element, and the semi rigid segment is configured to be positioned behind the hips of the person when the exoskeleton is worn by the person.

[0028] Clause 20. The exoskeleton of clause 19, wherein at least one of the first element and the second element comprise a pocket configured to at least partially envelop the semi rigid segment of belt to provide a defined structure between the first element and the second element.

[0029] Clause 21. The exoskeleton of clause 20, wherein the pocket is lined with a low friction surface to allow semi rigid segment to slide relative to one of the first element or the second element.

[0030] Clause 22. The exoskeleton of clause 2, wherein the belt comprises a belt adjustment mechanism configured to change the length of the belt.

[0031] Clause 23. The exoskeleton of clause 2, wherein the exoskeleton attachment defines an attachment axis of rotation between the adjustable hip interface and the supporting trunk, the hip joint, or the thigh link of the exoskeleton.

[0032] Clause 24. The exoskeleton of clause 23, wherein the attachment axis coincides with the first axis.

[0033] Clause 25. The exoskeleton of clause 24, wherein the attachment axis coincides with the persons hip flexion-extension axis.

[0034] Clause 26. The exoskeleton of clause 23, wherein the attachment axis of the first element and the attachment axis of the second element are aligned with the hip flexion-extension axis of the person in the transverse plane when the adjustable hip interface is worn by the person.

[0035] Clause 27. The exoskeleton of clause 2, wherein the first element and the second element comprise a semi rigid layer and padding configured to transfer weight, forces, or torques to the hips of the person.

[0036] Clause 28. The exoskeleton of clause 2, wherein the second element comprises a low friction surface configured to contact the belt. [0037] Clause 29. The exoskeleton of clause 2, wherein: the belt comprises a flexible segment extending between the first element and the second element configured to be in front of the person and a semi rigid segment extending between the first element and the second element configured to be behind the person, and the belt further comprises a coarse adjustment configured to selectively allow the semi rigid segment of the belt to extend or retract from the first element to change a length of the belt.

[0038] Clause 30. An exoskeleton comprising a supporting trunk configured to be attached to a trunk of a person; a thigh link configured to be attached to a thigh of the person; a hip joint configured to allow the thigh link to rotate relative to the supporting trunk about a first axis corresponding to flexion and extension of the persons thigh; and an adjustable hip interface configured to attach the exoskeleton to a hip section of the person, the adjustable hip interface comprising: a belt configured to encircle the hips of a person, a second element coupled the belt comprising an exoskeleton attachment coupled to the supporting trunk, hip joint, or thigh link, and a locking mechanism configured to selectively allow the second element to move along the belt relative without changing an overall length of the belt, wherein: when the exoskeleton is worn by the person, the locking mechanism allows for a position of the second element to be adjusted such that the first axis is aligned with a hip flexionextension axis of the person and then fixed from moving relative to the belt in at least one direction.

[0039] These and other embodiments are described further below with reference to the figures.

BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The included drawings are for illustrative purposes and serve only to provide examples of possible structures and operations for the disclosed novel systems and apparatus. These drawings in no way limit any changes in form and detail that may be made by one skilled in the art without departing from the spirit and scope of the disclosed implementations. [0041] Figure 1 depicts an adjustable hip interface worn as a part of a trunk supporting exoskeleton, in accordance with some examples.

[0042] Figure 2 depicts a top view of one embodiment of an adjustable hip interface, in accordance with some examples.

[0043] Figures 3A and 3B depict a top section view of an adjustable hip interface in various settings on a person's hips, in accordance with some examples.

[0044] Figure 4 depicts the prior state of the art of an adjustable hip interface, in accordance with some examples.

[0045] Figure 5 depicts an adjustable hip interface belt having flexible and semi rigid segments, in accordance with some examples.

[0046] Figure 6 depicts an alternate embodiment of an adjustable hip interface having flexible and semi rigid segments, in accordance with some examples.

[0047] Figure 7 depicts a detailed view of an adjustable hip interface in a small setting, in accordance with some examples.

[0048] Figure 8 depicts a detailed view of an adjustable hip interface in a larger setting, in accordance with some examples.

[0049] Figure 9 depicts a detailed view of an alternate embodiment of an adjustable hip interface in a larger setting, in accordance with some examples.

[0050] Figure 10 depicts accessories for an adjustable hip interface, in accordance with some examples.

[0051] Figure 11 depicts a detailed view of an adjustable hip interface with the primary components disassembled including a belt, a first element, and a second element, in accordance with some examples.

[0052] Figures 12A and 12B show two embodiments of a locking mechanism attached to a second element.

DETAILED DESCRIPTION [0053] FIG. 1 depicts an adjustable hip interface 100 attaching exoskeleton 200 to the hips 303 of a person, in accordance with some examples. The person's hips 303 are defined as the waist and or pelvis region.

[0054] Exoskeleton 200 comprises supporting trunk 201 rotatably connected to at least one thigh link 202 about at least one hip joint 203. In some embodiments, exoskeleton 200 comprises thigh link 202 and hip joint 203 along the first side of person 300, and a second set of thigh link 202 and hip joint 203 along the second side of person 300. In the primary embodiment, hip joint 203 on the first side of person 300 and hip joint 203 on the second side of person rotate about a substantially colinear first axis 206. Exoskeleton 200 may further comprise torso coupler 207 configured to attach supporting trunk 201 to persons trunk 301. A person's trunk 301 is defined as the central part of the human from which the neck and limbs extend, including the chest and abdomen. Exoskeleton 200 may further comprise thigh coupler 208 configured to attach thigh link 202 to person's thighs 302.

[0055] Exoskeleton 200 may utilize a passive or active means to create a torque about the first axis 206 between supporting trunk 201 and thigh link 202. Exoskeleton 200 may use one or a combination of leaf springs, coil springs, gas springs, pneumatics, hydraulics, electric motors, elastomers, or similar methods to create a torque about the first axis 206. The torque created by exoskeleton 200 is applied to persons trunk 301 by the supporting the trunk 301 and to persons thighs 302 by thigh link 202. The torque created by exoskeleton 200 may be configured to reduce muscle forces in the back of person 300 during forward lumbar flexion, aid in walking, provide mobility for tasks of daily living, or help to support a carried load. In other embodiments, exoskeleton 200 does not create a torque and acts to stabilize the movement of persons thigh 302 relative to persons trunk 301 about the first axis 206. In some embodiments, such as for walking assist exoskeleton 200, supporting trunk 201 is located only around persons hips 303.

[0056] In a primary embodiment, adjustable hip interface 100 acts to position the first axis 206 approximately at the person's hip joint, the ball and socket joint at which the person's thigh 302 moves relative to the person's hips 303. This allows exoskeleton 200 to move in tandem with person 300, minimizing relative sliding of supporting trunk 201 on the person's trunk 301 or thigh link 202 relative to the person's thighs 302. Alignment between the first axis 206 and the person's hip joint also serves to ensure that any support torques are applied by exoskeleton 200 to person 300 at the proper angles and amounts. Adjustable hip interface 100 may also serve to properly position exoskeleton attachment 109 on person 300 to aid in smooth donning and doffing of exoskeleton 200. Exoskeleton 200 may comprise adjustments to fit various sizes of person 300 and adjustable hip interface 100 may similarly change in size to accommodate the changing size of exoskeleton 200 and person 300. In other embodiments, adjustable hip interface 100 may be used to adjust the orientation of supporting trunk 201 or thigh link 202 relative to person 300 to improve the fit of exoskeleton 200 or to adjust the angle or amount of torque provided by exoskeleton 200.

[0057] Adjustable hip interface 100 comprises belt 101 configured to encircle the person'ss hips 303. Belt 101 may comprise closure mechanism 106 configured to attach and detach to ends of belt 101 for the user to don and doff adjustable hip interface 100. Adjustable hip interface 100 may further comprise belt adjustment mechanism 102 to adjust the length or circumference of belt 101 when worn by the person. In some embodiments, belt 101 is padded where it contacts the person's hips 303. In other embodiments, belt 101 is coated with a high friction surface where it contacts the person'ss hips 303. Belt 101 may be made of webbing, leather, chain, rope, or similar material. Belt 101 may be flexible or semi-rigid, provided it can wrap around the person's hips 303.

[0058] Adjustable hip interface 100 further comprises a first element 103 and second element 104 configured to attach to exoskeleton 200 near hip joint 203 on the first side of person 300 and hip joint 203 on the second side of person 300 respectively. First element 103 and second element 104 are configured to slide along belt 101. In some embodiments, first element 103 and second element 104 form a sleeve around belt 101, or belt 101 is configured to wind through slots in first element 103 or second element 104. When adjustable hip interface 100 is worn by person 300, the first element 103 and second element 104 will be positioned along the sides of the person's hips 303 in order to align the first axis 206 with the person's hip joint. The first element 103 may attach to supporting trunk 201, hip joint 203, or thigh link 202 on the first side of person 300. Similarly, second element 104 may attach to supporting trunk 201, hip joint 203, or thigh link 202 along the second side of person 300. In some embodiments, first element 103 and second element 104 attach directly to exoskeleton 200.

[0059] In some embodiments, the first element 103 and second element 104 further comprise exoskeleton attachment 109 to selectively attach and detach adjustable hip interface 100 from exoskeleton 200. In some embodiments, exoskeleton attachment 109 allows exoskeleton 200 to rotate relative to adjustable hip interface 100 about an attachment axis 135. Exoskeleton attachment 109 may be configured to lock and unlock exoskeleton 200 from adjustable hip interface 100. Exoskeleton attachment 109 may be configured to magnetically attract exoskeleton 200 to adjustable hip interface 100. In other embodiments, exoskeleton 200 is permanently attached to first element 103 and second element 104.

[0060] Figure 2 depicts a top view of one embodiment of adjustable hip interface 100 worn with exoskeleton 200. First element 103 is configured to sit alongside the first side of person 300 when worn and contains exoskeleton attachment 109. Second element 104 is configured to sit alongside a second side of person 300 when worn and contains a second exoskeleton attachment 109. In the embodiment of Figure 2, first element 103 comprises locking mechanism 105 configured to allow first element 103 to be selectively moved along or fixed relative to belt 101. In this embodiment, second element 104 also comprises locking mechanism 105 configured to allow second element 104 to be selectively moved or fixed relative to belt 101. In some embodiments, locking mechanism 105 can be set to a locked state or an unlocked state. When locking mechanism 105 is in its locked state, first element 103 or second element 104 is fixed to belt 101 and cannot slide along the length of belt 101 in response to forces and torques from exoskeleton 200. When locking mechanism 105 is in its unlocked state, first element 103 or second element 104 is freely moveable along belt 101. With this method of adjustment, first element 103 or second element 104 can be repositioned relative to each other without changing the length of belt 101. This allows person 300 to wear belt 101 at a comfortable circumferential setting while adjusting the position of second element 104 relative to first element 103. In an alternate embodiment, one of the first element 103 or second element 104 does not contain a locking mechanism 105 and is fixed to belt 101.

[0061] One having ordinary skill in the art may understand that many commercial technologies exist to open and close or change the length of belt 101. A belt closure mechanism 106 may comprise a side release buckle, magnetic clasp, clamp, pin buckle, tongue buckle, double ring buckle, ladder lock, ratchet buckle, magnetic buckle, hook and loop closure, anchor buckle, roller buckle, center bar buckle, knot, D-ring, g-hook, friction clamp, cam, or other common belt fastening device known to the prior art. In some embodiments, belt closure mechanism 106 comprises two separate pieces, one of which may be coupled to belt 101 and the other of which may be coupled to first element 103. Belt adjustment mechanism 102 may be integrated into belt closure mechanism 106 as is known with many of the aforementioned technologies. In other embodiments, belt adjustment mechanism 102 is distinct from belt closure mechanism 106. Belt adjustment mechanism 102 may comprise a tri-glide that slides along the length of the belt, or any relevant mechanism previously mentioned for belt closure mechanism 106. Belt 101 may be constructed of a flexible material such as nylon, leather, Kevlar, polyester, rope, cotton, or a combination thereof.

[0062] In some embodiments, locking mechanism 105 is located on the first element 103 or second element 104 towards the front of the person. In an alternate embodiment, locking mechanism 105 is located on first element 103 or second element 104 towards the back of the person. In some embodiments, locking mechanism 105 comprises a cam lock attached to first element 103 or second element 104. Locking mechanism 105 may be configured to clamp belt 101 to fix second element 104 to belt 101 along at least one direction. In a primary embodiment, locking mechanism 105 may be configured to fix second element 104 along belt 101 in response to forces that increase the -tension along the rear portion of belt 101 between first element 103 and second element 104. When exoskeleton 200 applies supportive forces to the person's thighs 302 and the person's trunk 301, it will cause a reaction force on exoskeleton 200 to cause the first axis 206 to shift forward on the person's hips 303. Because exoskeleton 200 is fixed to belt 101 along two sides of person 300, the rear portion of belt 101 between first element 103 and second element 104 will become taught to resist the reaction forces that cause the exoskeleton first axis 206 to shift forward on person 300. In other embodiments, locking mechanism 105 is configured to fix first element 103 or second element 104 along belt 101 in both directions. Still, in other embodiments, locking mechanism 105 may comprise a hook and loop fastener, a pin and hole coupling, a pawl and ratchet, g-hook and loops, pin and slot, triglide, screw, or other friction based or lockable mechanism between belt 101 and first element 103 or second element 104.

[0063] In some embodiments, a locking mechanism 105 may be spring loaded into the locked position. The locking mechanism 105 may further comprise a handle, wherein when the handle is pulled locking mechanism 105 is opened. The handle may be pulled in a forward or backward direction to simultaneously open the locking mechanism 105 and slide the first element 103 or second element 104 along belt 101. When the handle is let go of, locking mechanism 105 will automatically lock and fix the configuration of adjustable hip interface 100. In a similar embodiment, locking mechanism 105 comprises a frictionbased lock, such as a tri-glide, to fix first element 103 or second element 104 to belt 101 in both directions. Locking mechanism 105 further comprises a handle that when pulled reduces the friction between belt 101 and first element 103 or second element 104, allowing adjustable hip interface 100 to be adjusted. When the handle is let go of, the friction from locking mechanism 105 fixes all components into their current setting.

[0064] Figure 2 as well as Figures 3A and 3B depict a top plane section view, equivalent to a transverse plane section view, of adjustable hip interface 100 in various settings on persons hips 303. In the context of the adjustable hip interface 100, the transverse plane is drawn at the level of the pelvis, or hips 303 of the person 300, viewed perpendicular to the line of belt 101 unless otherwise noted. Figure 2 shows an adjustable hip interface 100 in an optimized configuration where exoskeleton attachment 109 on the first element 103 and exoskeleton attachment 109 on the second element 104 are aligned with each other and overlay the person's hip flexion-extension axis 305. In this embodiment, attachment axis 135 of both first element 103 and second element 104 is aligned with hip flexion-extension axis 305 in the top view or transverse plane. In this context, the person's hip flexion-extension axis 305 is defined as the rotational axis crossing through the person's hip joint in the sagittal plane, also called the side plane, corresponding to flexion and extension motions of the person's thigh 302. Hip flexion-extension axis 305 is shown on the person in Figure 10 and is oriented perpendicular to the image, which is shown from the sagittal, or side, plane of the person. Hip flexion-extension axis 305 is located directly under the first axis 206 in Figure 1, also shown from the sagittal plane. In the embodiment of Figure 2, exoskeleton attachment 109 of the first element 103 and exoskeleton attachment 109 of second element 104 are aligned with a flexion and extension hip flexion-extension axis 305 of person 300 in a transverse plane. Depending on where adjustable hip interface 100 attaches to exoskeleton 200, exoskeleton attachment 109 may sit at, above, or below hip flexion-extension axis 305 when viewed from the side plane while remaining approximately centered with hip flexion-extension axis 305 in the top view as shown in Figure 2. Figure 10 for example shows attachment axis 135 positioned above hip axis 305 in the sagittal plane, while attachment axis 135 remains coincident with hip axis 305 when viewed from the transverse or top plane of the person's trunk 301. When exoskeleton 200 is attached to adjustable hip interface 100 this allows for first axis 206 to be substantially aligned with hip flexion-extension axis 305 in the sagittal plane and the transverse plane. Alignment of both exoskeleton attachment 109 also aids in attaching and detaching exoskeleton 200 from adjustable hip interface 100. In other embodiments, attachment axis 135 is coincident with first axis 206 of exoskeleton 200.

[0065] Figure 2 further shows exoskeleton 200 attached to adjustable hip interface 100. In this embodiment, the exoskeleton attachment 109 of the first element 103 is attached to exoskeleton 200 along the first side of the person's hips 303, while the exoskeleton attachment 109 of the second element 104 is attached to exoskeleton 200 along the second opposite side of the person's hips 303. In the embodiment of Figure 2, supporting trunk 201 is positioned behind the person 300. In other embodiments, supporting trunk 201 is positioned in front of person 300. Exoskeleton 200 comprises a first hip joint 203 and thigh link 202 positioned along the first side of the person's hips 303 and a second hip joint 203 and thigh link 202 positioned along the second opposite side of the person's hips 206. In this view first axis 206 of hip joint 203 is coincident with attachment axis 135 and hip flexion-extension axis 305.

[0066] Figure 3A and Figure 3B show embodiments of adjustable hip interface 100 without exoskeleton 200 attached. Figure 3A shows a top plane section view of adjustable hip interface 100 in a non-optimal position such that exoskeleton attachment 109 on first element 103 and exoskeleton attachment 109 on second element 104 are misaligned with each other and positioned forward of hip flexion-extension axis 305. Figure 3A similarly shows attachment axis 135 of the first element 103 and attachment axis 135 of the second element 104 both misaligned with each other and with hip flexion-extension axis 305. Similarly, Figure 3B shows a top plane section view of adjustable hip interface 100 in a non-optimal position such that exoskeleton attachment 109 and attachment axis 135 on the first element 103 and exoskeleton attachment 109 and attachment axis 135 on the second element 104 are misaligned with each other and positioned rearward of hip flexion-extension axis 305. Not shown are similar configurations where exoskeleton attachment 109 on one of the first element 103 or second element 104 is aligned with hip flexionextension axis 305, and the exoskeleton attachment 109 on the other of the first element 103 or second element 104 is positioned forward or rearward of hip flexion-extension axis 305. In these non-optimized configurations, the first axis 206 of exoskeleton 200 may become misaligned with the hips axis 305 causing discomfort to person 300. In the non-optimized configuration, it may also become difficult to attach and detach exoskeleton 200 from adjustable hip interface 100 because exoskeleton attachment 109 may not properly align with their corresponding attachment points on the frame of exoskeleton 200. The top plane section view of Figure 2 as well as Figures 3A and 3B is equivalent to the transverse plane of a person.

[0067] Figure 4 shows the prior art configuration of adjustable hip interface 100. In this configuration, belt 101 is divided into a front belt 120 and a rear belt 121, both configured to adjust in length with belt adjustment mechanism 102. This embodiment comprises the first element 103 with exoskeleton attachment 109 coupled to font belt 120 from its first end and to rear belt 121 from its second end. It similarly comprises second element 104 with exoskeleton attachment 109 coupled to font belt 120 from its first end and to rear belt 121 from its second end. To adjust the prior art configuration shown in Figure 4 from the non-optimized configuration of Figure 3A to the optimized configuration of Figure 2, front belt 120 must be lengthened and rear belt 121 must be shortened. To adjust the prior art configuration shown in Figure 4 from the non-optimized configuration of Figure 3B to the optimized configuration of Figure 2, front belt 120 must be shortened and rear belt 121 must be lengthened. Both operations require at least temporarily changing the total length, or circumference, of belt 101. This may cause exoskeleton 200 to fall on the person's hips 303 during the adjustment and require many back-and-forth fine tunings of the lengths of the front belt 120 and rear belt 121. Often the adjustment for the length of rear belt 121 is difficult to reach, forcing the user to seek assistance or take off both exoskeleton 200 and adjustable hip interface 100 to make the proper adjustment. This is in contrast to the main embodiment of adjustable hip interface 100 where locking mechanism 105 can be used on one or both of first element 103 or second element 104 to align exoskeleton attachment 109 with hip flexion-extension axis 305 without the need to adjust the length of belt 101.

[0068] In use, adjustable hip interface 100 works to position first element 103 relative to second element 104 such that first element 103 sits along the first side of the person's hips 303 and second element 104 sits along the second side of the person's hips 303. In the first method of operation, the first element 103 remains locked or fixed to belt 101 while the position of the second element 104 is adjusted. Person 300 may first don adjustable hip interface 100 and adjust the length of the belt 101 to fit the circumference of the person's hips 303. Person 300 may then rotate the adjustable hip interface 100 to position the first element 103 to sit alongside the first side of the person's hips 303. First element 103 may remain locked. Person 300 may then unlock second element 104 and slide it along belt 101 to sit at the second side of person's hips 303. Finally, person 300 may lock second element 104 in place on belt 101 using the locking mechanism 105. This method may be followed whether exoskeleton 200 is attached or detached from adjustable hip interface 100.

[0069] In a second method of operation, the position of both first element 103 and second element 104 adjusts along belt 101. Person 300 may first don adjustable hip interface 100 and adjust the length of the belt 101 to fit the circumference of the person's hips 303. Person 300 may then unlock first element 103 via locking mechanism 105 and slide first element 103 so that it sits alongside the first side of the person's hips 303. The position of the first element 103 is then fixed to belt 101 with locking mechanism 105. Person 300 may then unlock second element 104 and slide it along belt 101 to sit at the second side of person's hips 303. Finally, person 300 may lock second element 104 in place on belt 101 using the locking mechanism 105. This method may be followed whether exoskeleton 200 is attached or detached from adjustable hip interface 100.

[0070] In a third method of operation, the position of first element 103 and second element 104 is set on belt 101 before adjustable hip interface 100 is donned by person 300. In some embodiments, belt 101 comprises markings to record the position of first element 103 or second element 104 along belt 101. If person 300 has been previously fit to adjustable hip interface 100 and knows his or her settings, they can then pre-set the position of first element 103 and second element 104 along belt 101 using locking mechanisms 105. They can then put on an adjustable hip interface 100 and adjust the length of the belt 101 to fit the circumference of the person's hips 303.

[0071] Any of these processes may be done when exoskeleton 200 is not attached to adjustable hip interface 100 or when exoskeleton 200 is attached to adjustable hip interface 100. When exoskeleton 200 is attached to adjustable hip interface 100, the person may be able to push or pull on the frame of exoskeleton 200 attached to first element 103 or second element 104 to adjust the position of the first element 103 or second element 104 respectively when locking mechanism 105 is in an unlocked state. This allows for adjustable hip interface 100 to easily and quickly adjust the position of exoskeleton 200 on person 300 at any point.

[0072] Figure 5 shows a top view schematic of adjustable hip interface 100 where belt 101 is divided into flexible segment 110 and semi rigid segment 108. Flexible segment 110 is configured to be flexible along its length and may be made of rope, webbing, leather or a similar material commonly used in the manufacture of belts. Semi rigid segment 108 is comprised of a resilient structure configured to flex in response to a load and return to its original shape when the load is removed. Semi rigid segment 108 may comprise a layer of plastic or thin metal. In some embodiments, flexible segment 110 is configured to be between the first element 103 and second element 104 on the front side of person 300 near the stomach, while semi rigid segment 108 is configured to be between the first element 103 and second element 104 on the rear side of person 300 near the lower back. The purpose of semi rigid segment 108 is to give adjustable hip interface 100 a fixed form when not being worn by person 300 to aid in handling and donning of the device. The purpose of flexible segment 110 is to increase comfort when adjustable hip interface 100 is worn by person 300 and to aid in the length adjustment of belt 101 by belt adjustment mechanism 102. Flexible segment 110 may be sewn, riveted, screwed, or attached with hook and loop fasteners to semi rigid segment 108. In Figure 5, the transition of the thickness of belt 101 inside the sleeve of second element 104 defines the transition between flexible segment 110 and semi rigid segment 108.

[0073] In the embodiment of Figure 5, first element 103 and second element 104 form a sleeve around semi rigid segment 108. First element 103 and second element 104 may also comprise a semi rigid layer to maintain the form provided by semi rigid segment 108 and to transfer forces between exoskeleton 200 or exoskeleton attachment 109 and belt 101. First element 103 and second element 104 may be limited in adjustment along belt 101 such that they remain in contact with semi rigid segment 108 in both the smallest and largest setting of adjustable hip interface 100. One end of belt closure mechanism 106 may be integrated into first element 103 or second element 104. In this embodiment, locking mechanism 105 on second element 104 is positioned towards the front of the person to be easily accessible. Locking mechanism 105 on second element 104 is configured to provide a continuous range of adjustment of second element 104 along belt 101 without changing the length of belt 101. In other embodiments, locking mechanism 105 is configured to provide a set of discrete adjustments of second element 104 along belt 101. The first element 103 further comprises coarse adjustment 107 positioned towards the rear of the person and may be configured to provide discretized adjustment of the first element 103 along belt 101. Similar to locking mechanism 105, coarse adjustment 107 may comprise a locked and an unlocked position. Coarse adjustment 107 may include any of the mechanisms described in locking mechanism 105 with the difference that coarse adjustment 107 changes the length of belt 101. In this embodiment, belt 101 telescopes within the first element 103, and coarse adjustment 107 changes the overall length of belt 101. In another embodiment, belt 101 may extend or retract from first element 103 without being completely encompassed by first element 103. In use, coarse adjustment 107 on the first element 103 may first be set to one of a discrete set of sizes by person 300 such as small, medium, or large. Then person 300 may put on adjustable hip interface 100 and use locking mechanism 105 on second element 104 to fine-tune the fit according to Figure 2.

[0074] Figure 6 shows another embodiment where the first element 103 is integrated into semi rigid segment 108 of belt 101. In this embodiment, only the second element 104 is configured to move relative to belt 101. This embodiment limits the total adjustment range of the adjustable hip interface 100 but simplifies the number of components. One end of belt closure mechanism 106 may be integrated into the first element 103. In an alternate embodiment, first element 103 is fixed to belt 101 resulting in an identical function to the embodiment shown in Figure 6.

[0075] Figure 7 depicts a detailed view of adjustable hip interface 100 in a small setting. In this view adjustable hip interface 100 is laid flat and contains the structure depicted in Figure 5. In this embodiment, belt 101 is divided into flexible segment 110 and semi rigid segment 108. One half of belt closure mechanism 106 is attached to first element 103. A second half of belt closure mechanism 106 is attached to flexible segment 110 and incorporates belt adjustment mechanism 102. First element 103 and second element 104 are configured to enclose and slide along semi rigid segment 108. Both first element 103 and second element 104 comprise exoskeleton attachment 109. Both first element 103 and second element 104 comprise a semi rigid layer 119 to help the adjustable hip interface 100 maintain its form and to transfer forces and torques from exoskeleton 200 to the person's hips 303. The first element 103 and second element 104 further comprise padding 118 on the side facing towards person 300 to aid in the comfort of the adjustable hip interface 100. In some embodiments, padding 118 is contoured to sit on the person's hips 303. In a primary embodiment, padding 118 protrudes slightly from semi rigid layer 119 along all sides of first element 103 and second element 104. Padding 118 and semi rigid layer 119 may also be configured to transfer loads attached to exoskeleton 200 to the person's hips 303. Padding 118 may also include a high friction coating to prevent first element 103 or second element 104 from moving relative to the person. In some embodiments, first element 103 and second element 104 further comprise a low friction surface along the faces that contact belt 101 to allow for easier sliding motion between belt 101 and second element 104 or first element 103 to aid in adjustment. A low friction surface may comprise plastic, metal, rollers, or bearings.

[0076] As shown in Figure 7, first element 103 comprises coarse adjustment

107 positioned towards the rear side of first element 103 that controls the telescoping motion of semi rigid segment 108 within a pocket of first element 103. In this embodiment, coarse adjustment 107 comprises a g-hook 122 sewn to the first element 103 and a series of loops 123 sewn to semi rigid segment

108 of belt 101. The locked configuration of coarse adjustment 107 between first element 103 and semi rigid segment 108 occurs when g-hook 122 is engaged with loop 123, preventing first element 103 from moving in either direction along belt 101. The unlocked configuration of coarse adjustment 107 between first element 103 and semi rigid segment 108 occurs when g-hook 122 is not engaged with loop 123, allowing first element 103 to move in either direction along belt 101. The lockable positions between first element 103 and belt 101 are defined by the location of loops 123. In some embodiments, 2 loops 123 are sewn into semi rigid segment 108. Figure 7 shows when g-hook 122 is engaged with first loop 123, corresponding to the smallest configuration of adjustable hip interface 100 where semi rigid segment 108 fully overlaps first element 103. Figure 8 shows a configuration where g-hook 122 is engaged with second loop 123, corresponding to a larger configuration of adjustable hip interface 100 where semi rigid segment 108 minimally overlaps first element 103. The minimal overlap between semi rigid segment 108 and first element 103 or second element 104 corresponds to the minimum amount of material needed for adjustable hip interface 100 to maintain its semi-rigid rear structure. When adjustable hip interface 100 is attached to the person's hips 303 and tightened, the tension forces of belt 101 are transferred through the first element 103 between g-hook 122 and belt closure mechanism 106. In this embodiment, when the first element 103 is adjusted relative to belt 101 the overall length 127 of belt 101 or adjustable hip interface 100, defined by the distance between the first end and second ends of the belt closure mechanism 106, lengthens and shortens. Between the configurations of Figure 7 and Figure 8, the rear length 128 distance between the first element 103 and second element 104 increases or decreases in conjunction with overall length 127.

[0077] Figure 7 and Figure 9 further depict locking mechanism 105 coupled to the front portion of second element 104. In this embodiment, locking mechanism 105 comprises a cam lock 124 configured to interface with flexible segment 110 of belt 101. Cam lock 124 may be locked and unlocked using a handle that rotates approximately 180 degrees. When cam lock 124 is locked, second element 104 is prevented from moving along belt 101 in a forward direction on person 300 as depicted in Figures 3A and 3B. When cam lock 124 is unlocked, second element 104 can move freely along belt 101. Unlike g-hook 122 and loops 123, cam lock 124 allows continuous adjustment along belt 101 and is lockable at any point along flexible segment 110. In the smaller setting of adjustable hip interface 100 shown in Figure 7, semi rigid segment 108 is up against cam lock 124 inside of second element 104. In the larger setting of adjustable hip interface 100 shown in Figure 9, semi rigid segment 108 more minimally overlaps with second element 104. In this embodiment, when second element 104 is adjusted relative to belt 101, the overall length 127 of belt 101, defined by the distance between the first end and second ends of the belt closure mechanism 106, does not change. Between the configurations of Figure 7 and Figure 9, the rear length 128 distance between the first element 103 and second element 104 increases or decreases while the overall length 127 stays constant. One having ordinary skill in the art may recognize that locking mechanism 105 of the second element 104 as depicted in Figure 7 and Figure 9 can equally apply to the first element 103. In some configurations, both first element 103 and second element 104 comprise locking mechanism 105 that allows them to move along belt 101 without changing belt length 140.

[0078] In the configuration of Figure 7, Figure 8, and Figure 9, the adjustment range between the first element 103 and second element 104 along the rear portion of belt 101 corresponding to semi rigid segment 108 is roughly defined by the length of the first element 103 and second element 104, within which semi rigid segment 108 slides. In some embodiments, the travel between the first element 103 and belt 101 is roughly equivalent to the travel between the second element 104 and belt 101. In the primary embodiment, the distance between first element 103 and second element 104 when the adjustment between first element 103 and belt 101 is at its minimum and second element 104 and belt 101 is at its maximum is roughly equivalent to the distance between first element 103 and second element 104 when the adjustment between first element 103 and belt 101 is at is maximum and second element 104 and belt 101 is at its minimum.

[0079] In the configuration of Figure 7 and Figure 8 a user would first set the rough distance between first element 103 and belt 101 by attaching g-hook 122 to corresponding loop 123. The user would then use cam lock 124 to fine-tune the distance between first element 103 and second element 104 such that exoskeleton attachments 109 align as shown in Figure 2. In this manner, multiple users may use adjustable hip interface 100 only by adjusting cam lock 124 provided they are of roughly similar size within the adjustment range of second element 104 along belt 101. This allows for adjustable hip interface 100 to be set to person 300 only by using one locking mechanism 105. If a user of a sufficiently different size is to use adjustable hip interface 100, both locking mechanisms 105 between first element 103 and belt 101 and second element 104 and belt 101 must be adjusted.

[0080] As shown in Figure 7, Figure 8, and Figure 9, adjustable hip interface 100 may further comprise safety stop configured to prevent semi rigid segment 108 from exiting the sleeve of second element 104. One having ordinary skill in the art may recognize safety stop may also be configured to prevent semi rigid segment 108 from exiting the sleeve of first element 103. In the configuration shown, second element 104 comprises a safety stop loop 116 sewn onto its rearmost edge. Semi rigid segment 108 comprises a safety stop hook 117 configured to mate with safety stop loop 116 and slide along the length of semi rigid segment 108. As second element 104 is adjusted along belt 101, safety stop hook 117 freely slides along the length of semi rigid segment 108. If second element 104 is adjusted along belt 101 to the point of minimal overlap between second element 104 and semi rigid segment 108, safety stop hook 117 is no longer able to slide relative to semi rigid segment 108 and pulls on safety stop loop 116 to prevent further adjustment between belt 101 and second element 104.

[0081] Figure 10 shows various attachments that can be added to the adjustable hip interface 100 to enhance its utility with exoskeleton 200. In some embodiments, first element 103 and second element 104 may comprise suspender attachment points 111 as shown in Figure 7. In some embodiments, both first element 103 and second element 104 comprise two suspender attachment points 111 to attach suspender straps 125 configured to prevent adjustable hip interface 100 from falling on the person's hips 303. Suspender straps 125 may be configured to attach between the front and rear of adjustable hip interface 100, routing over the shoulders of person 300. In some embodiments, as shown in Figure 7, the first element 103 or second element 104 may further comprise seat strap attachment points 112. Seat strap 126 may be configured to sit under the buttocks of person 300 when bent forward to prevent adjustable hip interface 100 or exoskeleton 200 from shifting on person 300. Seat strap 126 may be configured to attach between the front and rear of adjustable hip interface 100, passing between the legs of person 300. In other embodiments, seat strap 126 may be configured to attach the rear of the first element 103 to the rear of the second element 104. Still, in other embodiments, seat strap 126 may be configured to attach the rear of adjustable hip interface 100 to thigh link 202 of exoskeleton 200. In some embodiments, seat strap attachment points 112 are anchored with webbing in a straight line to exoskeleton attachment 109 to better transfer forces and torques from exoskeleton 200 to seat strap 126. In an embodiment not shown, adjustable hip interface 100 may comprise an anti-rotation attachment configured to prevent the belt 101 from rotating around the person's hips 303. [0082] Figure 11 shows the embodiment of Figure 7 with the primary components of adjustable hip interface 100 disassembled including belt 101, first element 103, and second element 104. In this embodiment, pocket 130 within first element 103 and second element 104 configured to slide around belt 101 are clearly shown in dashed lines. In some embodiments, pockets 130 in first element 103 and second element 104 are lined with a low friction surface and are configured to at least partially envelop semi rigid segment 108 of belt 101. In this configuration, semi rigid segment 108 provides structure between first element 103 and second element 104 to provide a defined shape to adjustable hip interface 100 to aid in donning the device. The low friction surface of pocket 130 allows for the semi rigid segment 108 of belt 101 to move smoothly within first element 103 or second element 104. Figure 11 more clearly shows the structure of belt 101 in some embodiment. Belt 101 may comprise flexible segment 110 along its entire length to transfer tensile loads through belt 101. Semi rigid segment 108 may be coupled to flexible segment 110 along a portion of belt 101 configured to sit behind the person 300 when the adjustable hip interface 100 is worn. In this embodiment, loops 123 and safety stop loop 116 may be sewn into flexible segment 110 or semi rigid segment 108. The first element 103 may further comprise reinforcement strap 136 configured to transfer tensile loads between any combination of the belt closure mechanism 106, semi rigid layer 119, exoskeleton attachment 109, and g-hook 122. One having ordinary skill in the art may recognize that g-hook 122 may be replaced with coarse adjustment 107 or locking mechanism 105.

Second element 104 may further comprise reinforcement strap 136 configured to transfer tensile loads between any combination of locking mechanism 105, semi rigid layer 119, exoskeleton attachment 109, and safety stop hook 117. Reinforcement strap 136 may be made of a webbing such as nylon configured to withstand tensile loads. Loops may also be sewn into reinforcement straps 136 to attach items such as tools and pouches to adjustable hip interface 100. In an embodiment depicted in Figure 11 when the adjustable hip interface 100 is tightened around the person's hips 303 tensile forces will be transferred as follows. The tensile forces of belt 101 are transferred from belt closure mechanism 106 to g hook 122 through the first element 103. First element 103 may transfer forces via semi rigid layer 119, reinforcement strap 136 or a combination of the two. Tensile forces are then transferred between g-hook 122 and the second half of belt closure mechanism 106 through belt 101. Belt 101 may transfer tensile forces solely through flexible segment 110 or a combination of flexible segment 110 and semi rigid segment 108. In the primary embodiment tensile forces are not transferred through second element 104 when the adjustable hip interface 100 is worn by person 300. This allows for the second element 104 to be more easily adjusted as previously described.

[0083] Figures 12A and 12B show two a close-up of two embodiments of locking mechanism 105 attached to second element 104. In the embodiment of Figure 12A locking mechanism 105 comprises cam lock 124 configured to lock and release second element 104 from belt 101. Cam lock 124 may be spring loaded into the closed position and prevent the belt 101 from moving relative to second element 104 in at least one direction. Cam lock 124 may further comprise handle 115 configured such that when handle 115 is pulled locking mechanism 105 is moved to an unlocked position and forces on handle 115 can be used to move second element 104 along belt 101. This allows the user to unlock and adjust the adjustable hip interface 100 in one motion. In another embodiment similar to Figure 12A now shown, handle 115 is removed and a user may depress the integrated handle of cam lock 124 to unlock locking mechanism 105. Still, in another embodiment similar to Figure 12A not shown, cam lock 124 is not spring loaded and a user may move the integrated handle of cam lock 124 to an open or closed position. In another embodiment shown in Figure 12B, the locking mechanism comprises a tri-glide 114 configured to lock and release second element 104 from belt 101. Tri-glide 114 remains in the locked position when untouched through friction with belt 101 which is routed around two slots of tri-glide 114. When tri-glide 114 is tilted by the raising of one edge, second element 104 may move along belt 101 in at least one direction. In some embodiments, locking mechanism 105 further comprises handle 115 coupled to tri-glide 114 such that when handle 115 is pulled locking mechanism 105 is moved to an unlocked position, and forces on handle 115 can be used to move second element 104 along belt 101. One having ordinary skill in the art may recognize that the embodiments of Figures 12A and 12B may similarly be used to lock and release the first element 103 from belt 101.

Conclusion

[0084] Although the foregoing concepts have been described in some detail for purposes of clarity of understanding, it will be apparent that certain changes and modifications may be practiced within the scope of the appended claims. It should be noted that there are many alternative ways of implementing processes, systems, and apparatuses. Accordingly, the present embodiments are to be considered illustrative and not restrictive.

Claims

1. An exoskeleton comprising: a supporting trunk configured to be attached to a trunk of a person; a thigh link configured to be attached to a thigh of the person; a hip joint configured to allow the thigh link to rotate relative to the supporting trunk about a first axis corresponding to flexion and extension of the thigh of the person; and an adjustable hip interface configured to attach the exoskeleton to hips of the person, the adjustable hip interface comprising: a belt configured to encircle the hips of the person, a first element coupled to the belt and comprising an exoskeleton attachment coupled to the supporting trunk, the hip joint, or the thigh link, a second element coupled to the belt and comprising an exoskeleton attachment coupled to the supporting trunk, the hip joint, or the thigh link on an opposite side of the hips of the person, and a locking mechanism configured to selectively allow the second element to move along the belt relative to the first element without changing an overall length of the belt, wherein, when the exoskeleton is worn by the person, the locking mechanism allows for repositioning the second element such that the exoskeleton attachment of the first element and the exoskeleton attachment of the second element are aligned with a hip flexion-extension axis of the person in a transverse plane and then fixed from moving relative to the first element along the belt in at least one direction.

2. The exoskeleton of claim 1 further comprising a second locking mechanism configured to selectively allow the first element to move along the belt relative to the second element without changing the length of the belt.

3. The exoskeleton of claim 1, wherein: the belt comprises a belt closure mechanism, and the first element is attached to one end of the belt closure mechanism.

4. The exoskeleton of claim 1 further comprising a coarse adjustment configured to selectively allow a section of the belt to telescope within the first element to change the length of the belt.

5. The exoskeleton of claim 1, wherein the locking mechanism is configured to prevent the second element from moving in a forward direction along the belt.

6. The exoskeleton of claim 1, wherein the locking mechanism is spring loaded into a locked position.

7. The exoskeleton of claim 1, wherein the locking mechanism comprises a handle configured to unlock the locking mechanism and move the second element relative to the belt when the handle is pulled.

8. The exoskeleton of claim 1, wherein the locking mechanism is a cam lock configured to prevent the second element from moving only in a forward direction along the belt.

9. The exoskeleton of claim 1, wherein the locking mechanism is configured to provide a continuous range of adjustment between the second element and the belt.

10. The exoskeleton of claim 1, wherein: the belt comprises a flexible segment extending between the first element and the second element, and the flexible segment is configured to be in front of the hips of the person when the exoskeleton is worn by the person.

11. The exoskeleton of claim 10, wherein the flexible segment comprises a belt adjustment mechanism configured to change the length of the belt.

12. The exoskeleton of claim 1, wherein: the belt comprises a semi rigid segment extending between the first element and the second element, and the semi rigid segment is configured to be positioned behind the hips of the person when the exoskeleton is worn by the person.

13. The exoskeleton of claim 12, wherein at least one of the first element and the second element comprise a pocket configured to at least partially envelop the semi rigid segment of belt to provide a defined structure between the first element and the second element.

14. The exoskeleton of claim 1, wherein the exoskeleton attachment defines an attachment axis of rotation between the adjustable hip interface and the supporting trunk, the hip joint, or the thigh link of the exoskeleton.

15. The exoskeleton of claim 14, wherein the attachment axis coincides with the first axis.

16. The exoskeleton of claim 15, wherein the attachment axis coincides with the hip flexion-extension axis of the person.

17. The exoskeleton of claim 14, wherein the attachment axis of the first element and the attachment axis of the second element are aligned with the hip flexion-extension axis of the person in the transverse plane when the adjustable hip interface is worn by the person.

18. The exoskeleton of claim 1, wherein: the belt comprises a flexible segment extending between the first element and the second element configured to be in front of the person and a semi rigid segment extending between the first element and the second element configured to be behind the person, and the belt further comprises a coarse adjustment configured to selectively allow the semi rigid segment of the belt to extend or retract from the first element to change a length of the belt.

19. An exoskeleton comprising a supporting trunk configured to be attached to a trunk of a person; a thigh link configured to be attached to a thigh of the person; a hip joint configured to allow the thigh link to rotate relative to the supporting trunk about a first axis corresponding to flexion and extension of the thigh of the person; and an adjustable hip interface configured to attach the exoskeleton to a hip section of the person, the adjustable hip interface comprising: a belt configured to encircle the hips of a person, a second element coupled to the belt comprising an exoskeleton attachment coupled to the supporting trunk, hip joint, or thigh link, and a locking mechanism configured to selectively allow the second element to move along the belt relative without changing an overall length of the belt, wherein: when the exoskeleton is worn by the person, the locking mechanism allows for a position of the second element to be adjusted such that the first axis is aligned with a hip flexionextension axis of the person and then fixed from moving relative to the belt in at least one direction.

20. An exoskeleton comprising: a supporting trunk configured to be attached to a trunk of a person; a thigh link configured to be attached to a thigh of the person; a hip joint configured to allow the thigh link to rotate relative to the supporting trunk about a first axis corresponding to flexion and extension of the thigh of the person; and an adjustable hip interface configured to attach the exoskeleton to hips of the person, the adjustable hip interface comprising: a belt configured to encircle the hips of the person, a first element coupled to the belt and comprising an exoskeleton attachment rotatably coupled to the supporting trunk, the hip joint, or the thigh link about an attachment axis, a second element coupled to the belt and comprising an exoskeleton attachment rotatably coupled to the supporting trunk, the hip joint, or the thigh link on an opposite side of the hips of the person about an attachment axis, and a locking mechanism configured to selectively allow the second element to move along the belt relative to the first element without changing an overall length of the belt, wherein, when the exoskeleton is worn by the person, the locking mechanism allows for repositioning the second element such that the attachment axis of the first element and the attachment axis of the second element are aligned with a hip flexion-extension axis of the person in a transverse plane and then fixed from moving relative to the first element along the belt in at least one direction.