---
publication_id: "OT-2026-000002608"
title: "Soft exosuit for assistance with human motion"
published_at: "2026-09-15T19:14:10.330495Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002608"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "a61h1/024"
  - "a61h1/024"
  - "b25j9/0006"
  - "a61b5/00"
  - "a61b5/11"
  - "a61b5/112"
---

# Soft exosuit for assistance with human motion

## 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.