{
  "abstract": "In one aspect, a motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the first and second sensors and, responsive thereto, automatically actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator, during at least a second portion of the gait cycle, to reduce a tensile force at the anchor element attachment point to a level at or below the predetermined threshold tensile force to avoid generating a detrimental moment about the joint.",
  "assignees": [
    "HARVARD COLLEGE"
  ],
  "authors": [
    "ASBECK ALAN THOMAS",
    "DE ROSSI STEFANO MARCO MARIA",
    "DING YE",
    "GALIANA BUJANDA IGNACIO",
    "WALSH CONOR"
  ],
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    "name": "Creative Commons Attribution 4.0 International",
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  "source_date": "2026-02-24",
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  "supersedes": null,
  "title": "Soft exosuit for assistance with human motion",
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