Accessible Clothing Technologies, Systems and Methods Using Integrated Soft Robotics

Abstract

An adaptive bra including an encircling band, a front panel connected to the encircling band and including at least one support panel configured to substantially cover at least one breast of a wearer, and at least one expanding panel including at least one shape memory material (SMM) actuator, wherein the at least one SMM actuator generates a linear contraction of the expanding panel when activated.

Claims

1. An adaptive garment, comprising: a garment body having an expanded state and a fitted state; one or more shape memory material (SMM) actuators connected with the garment body such that activation of the one or more SMM actuators contracts the garment body from the expanded state into the fitted state; and a fastener system affixed to the garment body that latches the garment body in the fitted state in response to the SMM actuators contracting the garment body into the fitted state.

2. The adaptive garment of claim 1, wherein the fitted state is conformed to a user's body relative to the expanded state.

3. The adaptive garment of claim 1, wherein the garment body assuming the fitted state triggers latching of the fastener system.

4. The adaptive garment of claim 1, wherein the fastener system is manually latched.

5. The adaptive garment of claim 1, wherein the fastener system comprises one or more of a button buckle, nursing clips, a reel-based fastener system, a hook-and-eye fastener system, and a magnetic fastener system.

6. The adaptive garment of claim 1, wherein the adaptive garment is one of a bra, a belt, a support band, a shoe.

7. The adaptive garment of claim 1, wherein the one or more SMM actuators comprise shape memory allow (SMA) springs.

8. The adaptive garment of claim 1, wherein the one or more SMM actuators are activated by application of heat or current.

9. An adaptive garment, comprising: a garment body including at least one opening in the garment in an expanded state; a fastener system configured to secure the at least one opening such that the garment body is donned upon at least a portion of a user; and one or more SMM actuators affixed to the garment body such that activation of the SMM actuators draws the garment body into a fitted state.

10. The adaptive garment of claim 9, wherein the at least one opening is closed by the fastener system.

11. The adaptive garment of claim 9, wherein the at least one opening is made a restricted opening by the fastener system.

12. The adaptive garment of claim 9, wherein the fastener system is manually secured.

13. The adaptive garment of claim 9, wherein the fastener system is configured for one-handed operation.

14. The adaptive garment of claim 13, wherein the fastener system comprises one of a button buckle and a nursing clip.

15. The adaptive garment of claim 9, wherein the SMM actuators are affied to the garment body in an actuation panel.

16. The adaptive garment of claim 15, wherein the actuation panel comprises a mesh panel.

17. The adaptive garment of claim 15, wherein the actuation panel comprises a plurality of SMM actuators.

18. The adaptive garment of claim 15, wherein the adaptive garment comprises at least two actuation panels.

19. The adaptive garment of claim 18, wherein the at least two actuation panels are arranged on opposing sides of the garment body.

20. The adaptive garment of claim 18, wherein the adaptive garment comprises at least three actuation panels.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of the description, illustrate several aspects of the present disclosure. A brief description of the drawings is as follows:

[0012] FIG. 1 is a front view of an example adaptive bra, according to embodiments of the present disclosure.

[0013] FIG. 2 is a side view of the example adaptive bra of FIG. 1.

[0014] FIG. 3 is a front view of another example adaptive bra in a contracted state, according to embodiments of the present disclosure.

[0015] FIG. 4 is a rear view of the adaptive bra of FIG. 3 in a contracted state.

[0016] FIG. 5 is a front view of the adaptive bra of FIG. 3 in an expanded state.

[0017] FIG. 6 is a rear view of the adaptive bra of FIG. 3 in an expanded state.

[0018] FIGS. 7a-7c are the actuation process of a back panel of the example adaptive bra of FIG. 3.

[0019] FIGS. 8a-8c are the actuation process of a side panel of the example adaptive bra of FIG. 3.

[0020] FIGS. 9a-9c are the actuation process of a strap of the example adaptive bra of FIG. 3.

[0021] FIG. 10 is a front view of an example adaptive bra prototype for arthritic users, according to embodiments of the present disclosure.

[0022] FIG. 11 is a side view of the example adaptive bra prototype for arthritic users of FIG. 10.

[0023] FIGS. 12a-12c are the actuation process of the example adaptive bra of FIG. 10.

[0024] FIG. 13 is a front view of an example adaptive bra prototype for one-handed use, according to embodiments of the present disclosure.

[0025] FIG. 14 is a side view of the example adaptive bra prototype for one-handed use of FIG. 13.

[0026] FIG. 15 is a rear view of the example adaptive bra prototype for one-handed use of FIG. 13.

[0027] FIG. 16 is a perspective view of the example adaptive bra prototype for one-handed use of FIG. 13 in a fully expanded state.

[0028] FIG. 17a is a perspective view of an example self-tightening belt, according to embodiments of the present disclosure.

[0029] FIG. 17b is a detail view of a latching mechanism of the self-tightening belt of FIG. 17a.

[0030] FIG. 17c is a detail view of the latching mechanism of FIG. 17a is a fastened state.

[0031] FIGS. 18a-18c are the actuation and fastening process of the self-tightening belt of FIG. 17a.

[0032] FIG. 19a is a rear view of an example adaptive pregnancy band, according to embodiments of the present disclosure.

[0033] FIG. 19b is a rear view of the example adaptive pregnancy band of FIG. 19a laid flat.

[0034] FIG. 19c is a front view of the example adaptive pregnancy band of FIG. 19a.

[0035] FIG. 19d is a front view of the example adaptive pregnancy band of FIG. 19a laid flat.

[0036] FIG. 20 is an example self-tightening shoe with hook-and-eye architecture to form the closure, according to embodiments of the present disclosure.

[0037] FIG. 21 is a detail view of the fastening system of the self-tightening shoe of FIG. 20.

[0038] FIG. 22 is a detail view of the hook-and-eye latching mechanism of the self-tightening show of FIG. 20.

[0039] FIG. 23 is the self-tightening shoe of FIG. 20 in a pre-actuation state.

[0040] FIG. 24 is the self-tightening shoe of FIG. 20 in an amidst actuation state.

[0041] FIG. 25 is a detail view of fastening of the hook-and-eye latching mechanism of FIG. 22

[0042] FIG. 26 is the self-tightening shoe of FIG. 20 in a fastened state.

[0043] FIG. 27 is an example self-tightening shoe with an electromagnet for fastening, according to embodiments of the present disclosure.

[0044] FIG. 28 is a detail view of the fastening system of the self-tightening shoe of FIG. 27.

[0045] FIG. 29 is a detail view of the electromagnetic latching mechanism of the self-tightening shoe of FIG. 27.

[0046] FIG. 30 is the self-tightening shoe of FIG. 27 in a pre-actuation state.

[0047] FIG. 31 is the self-tightening shoe of FIG. 27 in an amidst actuation state.

[0048] FIG. 32 is the self-tightening shoe of FIG. 27 in a fastened state.

DETAILED DESCRIPTION

[0049] Garment-based soft robotics is an emerging domain which seeks to integrate compliant mechanical actuators into textile or clothing form factors. There exists a significant opportunity to develop and deploy these garment-based technologies to overcome accessibility challenges in everyday clothing, providing a suite of adaptive solutions that can support and assist with the daily challenges of, for example, tightening or loosening, or fastening or unfastening, a garment. Reference will now be made in detail to exemplary aspects of the present disclosure that are illustrated in the accompanying drawings.

[0050] Disclosed herein are garment-based technologies to overcome accessibility challenges in everyday clothing, encompassing a set of adaptive solutions that can support and assist with the daily challenge of tightening/loosening or fastening/unfastening a garment. Shape memory alloy (SMA) springs, and other shape memory material actuators, have the potential to be used as self-tightening mechanisms for adaptive clothing. SMA springs are actuator structures that constrict when heated by an electric current, and function like an artificial muscle that can be integrated directly into wearable systems. SMA-based wearables are presently used in exoskeletons and textiles for rehabilitative or protection purposes.

[0051] Disclosed herein are novel garment-based soft robotic systems which provide solutions to the challenges addressed above. Advantages of the designs disclosed herein include (1) adaptive bras with ease of closure and self-fitting features, (2) self-tightening belts using SMA actuators and hook-and-eye fasteners, and (3) self-tightening shoes using SMA actuators and multiple fastening structures (hook-and-eye and electromagnets), to demonstrate the viability of garment-based soft robotic technologies as accessibility solutions.

[0052] Examples presented herein include embodiments of self-tightening or self-fastening wearable systems, each of which use SMA springs, as example shape memory material actuators, to provide tightening mechanisms and either traditional (e.g., hook-and-eye) or advanced (e.g., electromagnetic) fastening mechanisms, and then integrated these systems into different types of garments. Examples presented herein relate to adaptive bras, belts, and shoes, but application to other garments is also considered.

[0053] Design criteria considered for wearable devices disclosed herein were developed referring to an Inclusive Apparel Design (IAD) framework. The IAD framework targets three categories of capabilities that are directly relevant to the utilization of apparel products: (a) reach, (b) dexterity, and (c) mobility. Reach capability refers to the case of donning and doffing and the accessibility of functional garment features, such as closures. Dexterity capability is the case of manipulating functional garment features, such as zippers or buttons, and mobility capability is the ability to move around. By addressing these design criteria, the garments are preferably able to both tighten and fasten without requiring any ability to reach the garments or requiring any dexterity to manipulate fasteners or strength to tighten the garments prior to fastening. The disclosed garments and devices of the present disclosure better meet the needs of individuals with disabilities, offering them greater independence, comfort, and confidence in their daily lives.

[0054] Disclosed herein are embodiments of adaptive bras with embedded shape memory materials to provide robotically-assisted adaptive or customizable fit. An example embodiment is designed to assist individuals with dexterity limitations such as those typical in conditions such as arthritis, and another example embodiment is designed to be fully usable with one hand. This approach represents a novel solution to overcome bra-related accessibility issues.

[0055] A significant number of female and non-binary people with disabilities surveyed about their satisfaction and challenges with intimate apparel have expressed dissatisfaction with the case of wearing bras, and with the assortment or selection of bras. Fastening the closures is a particular challenge reported with wearing bras, followed by donning, difficulty of using straps, uncomfortable fabric, doffing, a fit that is too tight, and a fit that is too loose. If responses for a fit that is too tight or too loose are combined, fit becomes a primary concern reported.

[0056] The present bra market includes numerous styles, varying in price, type (underwire vs. wireless), size range, number of colorways, material content, closure type and location, methods of adjustment for both the band and straps, and whether the bra contained assistive dressing loops. Closure types vary greatly and include zippers, hook and eyes, magnets, clasps, Velcro, and snaps. Closures are located at either the center front, off-center, or side, with some having no closure at all, instead being doffed by pulling it over a wearer's head. Many bras have no way of adjusting the dimensions of the bra band. In some present designs, hook and eyes in the back of the bra need to be unfastened before doffing, while others may be adjusted in the front with a clasp, hook and eyes, or Velcro. A majority of designs use sliders to adjust the length of the straps, but some have no way of adjusting the straps at all. Of the bras that use sliders for strap adjustment, sliders are most frequently placed at the back of the straps.

[0057] This lack of adjustability in bra bands is a contributing factor to the large number of fit challenges noted. Though these bands usually contain elastic to aid in fitting, the wearer has no control over how loose or tight the elastic is, and the presence of elastic and negative case in the band may make fastening the closures more difficult for people with limited strength. Some of the closure types, though placed in a more convenient location at the front of the bra, still require fine motor skills and good vision to fasten them. Though there are a wide variety of closure types identified in adaptive bras, it is clear that the currently available closures are not meeting the needs of many people with disabilities. Few existing adaptive bras can be donned with the use of only one hand, with some one-handed designed requiring being donned over the head, which may not be feasible for everyone.

[0058] Disclosed herein are embodiments of accessible bras with a closure that is easy to use, adjustable fit, straps that are simple to wear and use, and a design that prioritizes comfort and is distinct from the unsatisfactory currently designs available on the market. While passive solutions are the most common form of adaptive clothing on the market today, there have been limited commercial efforts to introduce powered technologies to create active accessibility solutions.

[0059] The adaptive bra designs of the present disclosure use shape memory materials (SMMs), such as shape memory alloys (SMAs), to actively assist a wearer in donning, doffing, and achieving a comfortable and effective fit. Some non-limiting examples of suitable SMAs include metals that exhibit thermally-induced shape change that can be specifically engineered to create tightening effects in everyday clothing. By combining SMA structures (for dynamic fit) and traditional fasteners (e.g., buckles designed for one-handed use), the present disclosure provides a new paradigm for accessible bra design. This novel approach to bra accessibility design allows for a vastly improved user experience, including: [0060] (1) Ease of donning, at least because the garment can be oversized for donning and assistively adjusted to an appropriately sized fit for wearing once donned; [0061] (2) Ease of fastening, at least because the fastening step can occur before the tightening or fitting step therefore minimizing the strength or dexterity required of the wearer to achieve a secure fastening; and [0062] (3) Customized fitting or tightening, because embedded SMA actuators can dynamically tighten the band and/or straps to accommodate a custom fit for each wearer.

[0063] Referring now to FIG. 1, a front view of an example adaptive bra 100 is shown, according to embodiments of the present disclosure. FIG. 2 is a side view of the adaptive bra 100 of FIG. 1. Example adaptive bra 100 uses a center buckle 102 on the median anterior of a user's body as bra 100 would be worn. In embodiments, center buckle 102 may be a center release button buckle. To enable soft robotic fit adjustment, the bra 100 contains one, two, or more expansion panels 104. In the example adaptive bra 100, there is an expansion panel 104 on either side of the bra 100, containing SMA spring actuators 108. In embodiments, expansion panels 104 may comprise a mesh panel, an elastic panel, or another material with increased give relative to materials used in other panels of the bra 100. In example adaptive bra 100, four SMA spring actuators 108 are shown, but the number of actuators may be adjusted up or down to accommodate various use cases and arrangements. The SMA spring actuators 108 allow the bra 100 to be oversized before donning, and subsequently actuated to tighten after donning. Importantly, this allows for the bra 100 to be donned in the oversized state, and for the buckle 102 to be fastened without resistance. Once donned, the SMA springs 108 can be heated to generate a linear contraction of the mesh panel 106, tightening the bra 100 and fitting it to a user's body. Heating may be accomplished by, for example, equilibration to body temperature or through externally applied heat or electricity, depending on the specific SMA used.

[0064] In embodiments, SMA spring actuators 108 are absent and expansion panel 104 instead comprises a contractile SMA knit. In such an embodiment, the SMA knit may provide expansion through the knit weave and, once donned, the SMA knit may be actuated to tighten the bra and fit it to a user's body.

[0065] Referring now collectively to FIGS. 3-6, an example adaptive bra 200 is shown in both a contracted state (FIGS. 3 and 4) and an expanded state (FIGS. 5 and 6). Adaptive bra 200 has an anterior center buckle 201 and added case distributed among three panels 202: one at each of the sides and one at the center back of the bra. In examples, each side panel expands by 1.5 inches and the back panel expands by 3 inches for a total of 6 inches of added case. In examples, each of the side panels contains four SMA springs 204 attached with rivets 206. The example adaptive bra 200 depicts 4 SMA springs 204, but in embodiments other numbers of actuators may be used depending on the desired use case and parameters. In embodiments, the rivets may be 6 mm. Rivets may be preferable as a fastener for their small size and low profile.

[0066] FIGS. 7a-7c are the actuation process of a back panel 202 of the example adaptive bra 200 of FIG. 3. FIG. 7a shows the back panel 202 is an expanded state with a length L1. FIG. 7b shows heat H being applied to the back panel 202 causing SMA springs 204 to contract. In this example, heat is applied by an external source, a heat gun. FIG. 7c shows the back panel 202 in a contracted state with a length L2, shorter than length L1, following the application of heat H.

[0067] FIGS. 8a-8c are the actuation process of a side panel 202 of the example adaptive bra 200 of FIG. 3. FIG. 8a shows the side panel 202 is an expanded state with a length L3. FIG. 8b shows heat H being applied to the side panel 202 causing SMA springs 204 to contract. In this example, heat is applied by an external source, a heat gun. FIG. 8c shows the side panel 202 in a contracted state with a length L4, shorter than length L3, following the application of heat H.

[0068] The bra straps 208 can also be lengthened or shortened using an SMA spring 210. The strap may be looped through a plastic slider 212 at the front and back of the bra where it overlaps itself. The two ends of the strap are connected to a SMA spring 210. In embodiments, the two ends are connected with a single SMA spring actuator. The actuator may be secured using rivets 214.

[0069] FIGS. 9a-9c are the actuation process of a strap 208 of the example adaptive bra of FIG. 3. FIG. 9a shows the strap 208 is an expanded state with a length L5. FIG. 9b shows heat H being applied to the strap 208 causing SMA spring 210 to contract. In this example, heat is applied by an external source, a heat gun. FIG. 9c shows the strap 208 in a contracted state with a length L6, shorter than length L5, following the application of heat H.

[0070] Individuals with arthritis can significantly struggle with simple everyday tasks associated with dressing and undressing. Arthritic women find bras in particular to be one of the most difficult garments to don and doff. To design an adaptive bra for arthritic users using SMA actuators, several design factors related to buckle design, buckle placement, and user strength or dexterity are relevant.

[0071] Considerations including strength, dexterity, faster location, and buckle design were optimized for arthritis users in particular. No published data could be found regarding arthritic strength, dexterity, and mobility and the use of buckles, whereas a great number of studies had been conducted on other closures. Buckles were chosen as they are typically a one step process, require less precise dexterity, and are readily available in a number of different forms.

[0072] The proximal pinch grip strength was found to be greater in the anterior median of the body compared to posterior. The adaptive bras were designed so that any pulling done during fastening should involve a proximal pinch grip in the anterior median of the body, as participants in this category experienced the most strength in comparison to the proximal pull posterior median of the body.

[0073] Anterior, posterior, and side closures were considered. For embodiments directed to arthritic persons, an anterior closure was found to provide the greatest accessibility in consideration to impairments resulting from arthritis. A center button buckle was a preferred closure, providing a fast and easy closure and release for donning and doffing the bra. Several other buckle designs were considered and found to be suitable. Some nonlimiting examples of suitable buckle designs include a breakaway buckle, various quick release buckles, and a side release buckle.

[0074] An example adaptive bra 300 design for an arthritic wearer is shown in FIGS. 10 and 11 and utilizes a center button buckle 302 on the median anterior of the body.

[0075] The strength necessary to complete the donning process was measured and found to be far less than the average strength of an average arthritic person. To enable soft robotic fit adjustment, the example adaptive bra 300 contains two expansion panels 304 (e.g., mesh panels) on either side of the bra containing four SMA spring actuators 306 each. The SMAs allow the adaptive bra 300 to be oversized before donning, and subsequently actuated to tighten after donning. Importantly, this allows for the bra 300 to be donned in the oversized state, and for the buckle 302 to be fastened without resistance. Once donned, the SMA springs 306 can be heated to generate a linear contraction of the side panel 304 (via e.g., equilibration to body temperature or through externally applied heat or electricity, depending on the specific SMA used), tightening the bra 300 and fitting it to a user's body.

[0076] FIGS. 12a-12c show the actuation process and response of the fit for example adaptive bra 300 of FIG. 10. FIG. 12a shows the side panel 302 is an expanded state with a length L7. FIG. 12b shows heat H being applied to the side panel 304 causing SMA springs 306 to contract. In this example, heat is applied by an external source, a heat gun. FIG. 12c shows the side panel 304 in a contracted state with a length L8, shorter than length L7, following the application of heat H.

[0077] In examples, the SMA springs 306 are Flexinol 70C SMA springs, and the side panel 304 is made up of a Cotton Jersey Knit fabric and Nylon+Spandex Mesh fabric. These fabrics may advantageously provide both comfort for the wearer and be capable of handling thermal loads that might be generated by the SMA actuators. Channels for each of the SMA springs may be created by topstitching on two layers of mesh fabric, used to create each of the side panels. The springs may be attached by looping around a metal eye at each end of each channel. The center button buckle 302 may be attached to an elastic band 308 that provides under bust support for the wearer and extends around the circumference of the adaptive bra 300.

[0078] The following example is directed to a SMA-assisted, one-handed underwire bra which could be fastened in the front.

[0079] Several different one-handed fasteners were considered for inclusion in the one-handed bra embodiments. Some nonlimiting examples of fasteners considered include a magnetic snap buckle, a magnetic hook, and nursing clips in three sizes (, , ). The nursing clips were found to generally be preferable in these embodiments due to the larger, bulkier form factor of the magnetic closures. A size nursing clip was chosen because it required the least amount of dexterity to fasten at a size that was still appropriate for inclusion at the center-front of the bra between the cups. Smaller hook and eyes may present challenges for some people with disabilities; however, nursing clips contain hooks that are significantly larger and are designed to be fastened and unfastened with only a single hand. Though these clips are typically used to connect the cup of a nursing bra to the strap, as disclosed herein, when placing one horizontally at the center of a bra, as disclosed herein, it could still be fastened with one hand but that doing so was easier when the band is oversized.

[0080] Extension panels were added to the center back of the bra in half inch increments to allow a wearer was able to fasten the closure with ease. 3 of ease was found to generally be the minimum amount needed to easily fasten the closure. It was determined that the case should be distributed between the sides and the back of the bra, rather than all at the back, so that the straps do not slide off the arm while donning. With the goal of accommodating as many individuals as possible, a total of 6 of ease was added to the band.

[0081] The example adaptive bra design 400 for a one-handed wearer, shown in FIGS. 13-16, has 6 of added ease distributed between three panels 402, 404: one at each of the sides and one at the center back of the bra. Each side panel 402 expands by 1.5 and the back panel 404 expands by 3. Each of the side panels 402 contains 4 SMA springs 406 attached with 6 mm rivets 408. Rivets were chosen as a fastener for their small size and low profile. The SMA springs, in this example, are 1 in length when contracted and 2.5 long when expanded. The back panel 404 contains 2 SMA springs 406 which are, in this example, 2 long when contracted and 5 long when expanded. The bra straps can also be lengthened or shortened using an SMA spring. The strap is looped through a plastic slider at the front and back of the bra where it overlaps itself. The two ends of the strap are connected to a single SMA spring (attached with 6 mm rivets). The spring is 2.5 when contracted and 6.25 when expanded, allowing the straps to be adjusted by a total of 1.875.

[0082] The band 418 is constructed of two layers 420, 422 constructed of, in this example, a nylon spandex blend fabric, adhered together using a fusible adhesive. At each of the panels 402, 404, the SMAs contract and pull the outer layer 420 over the inner layer 422 so that they overlap. Teflon, or another lubricant material, was adhered to the outside of the inner layer 422 at these locations so that the SMA springs 406 and outer layer 420 could glide smoothly without causing the fabric to buckle or bunch.

[0083] To maximize comfort in this complex design, the number of seams and amount of stitching were reduced as much as possible. The band 418, in this example, contains only 3 seams: 2 where the band is connected to the molded cups (which have a seam covering typical of underwire bras), and the third located at center back. The center back seam was used included in this example due to limitations in fabric width but may be excluded when the fabric is wide enough. The band could be cut in one single piece and the only seams needed would be to attach the band and cups. In this example, a fusible adhesive was used to join the inner and outer layers 420, 422, reducing the need for stitching and preventing uncomfortable bunching of fabric.

[0084] Before donning the bra, the panels and straps are manually expanded, such as by pulling each of them apart. Then, each bra strap may be donned by pulling it over each of the arms. After that, the two cups may be pulled together using a single hand and the center nursing clip 424 is fastened. Heat is then applied to the SMA springs (such as by equilibration to body heat or through externally applied heat/electricity) to contact them until the desired dimension is reached.

[0085] The adaptive bra designs disclosed herein address unique challenges faced by people who struggle with bra accessibility. The disclosed designs significantly reduce the strength and dexterity required to don each bra, by leveraging the ability of embedded SMAs to perform tightening/fitting after the bra is already donned and the center closure is fastened. These embodiments offer the potential for greater independence and comfort for people with a variety of bra-related accessibility challenges, potentially improving their daily dressing experience.

[0086] The present disclosure is further directed to the adaptive design of belts and shoes, which many individuals must wear every day. The functional ability to wear shoes encompasses several factors that enable an individual to independently and effectively put on and take off footwear. Dexterity, muscle strength, and range of motion are all important physical characteristics to have when putting on and taking off shoes. Insufficient functional abilities can result in challenges of shoes donning or doffing for individuals with limitations.

[0087] Current adaptive shoes primarily use Velcro straps and wide openings with zippers. The present disclosure therefore expands the adaptive clothing solution space by exploring garment-based soft robotics, such as shape memory alloy (SMA) springs, or other shape memory materials, to offer advanced solutions. Disclosed herein are self-tightening and self-fastening belts and shoes using, for example, SMA actuators as tightening mechanisms and both hook-and-eye and electromagnetic components as fastening solutions, to improve accessibility and independence for individuals with physical limitations.

[0088] Referring now collectively to FIGS. 17-17c, a self-tightening belt 500 embodying the principles of the present disclosure is shown. FIG. 17a is a perspective view of a self-tightening belt 500. FIGS. 17b and 17c is a detail view of fixtures of self-tightening belt 500.

[0089] In embodiments, self-tightening belt 500 is crafted using a shape memory alloy (SMA) actuator 502 and a hook-and-eye closure 504, allowing it to automatically tighten and fasten without any manual operation. In this architecture, coiled SMA wire (e.g., Flexinol 70 C.) is the core actuation component, actuating with, for example, applied current to tighten the belt structure. In embodiments, actuation may occur via equilibration to body temperature, via direct applied heat, or via electrically-induced Joule heating. In examples, the SMA wire 502 has a diameter of 0.08, 0.10, 0.12, 0.14, 0.16, etc. An SMA spring 502 is used in combination with a traditional inextensible cinch-style belt (e.g., a Velcro strap), outfitted with traditional hook-and-eye closures 504 along its length. The SMA spring 502 is attached to snap both the free end 506 and cinch loop 508 of the belt, such that when the SMA spring 502 contracts linearly it tightens the cinch. Teflon or similar materials may be utilized as a layer to isolate SMA materials from the fabrics beneath where the SMA spring 502 is located, for the purpose of preventing the fabrics from melting or other heat damage during the heating process.

[0090] The free end 506 of the belt is outfitted with a hook 510 component on its inner surface, and eye 512 components are spaced regularly along the belt length such that when the free end 506 is pulled (see travel T in FIG. 19b, for example) by the SMA springs 502, the hook-and-eye components 510,512 are pulled into alignment (see, e.g., FIG. 19a-19c). This architecture offers an automatic, adjustable tightening and fastening capability that can be sustained without continuous power.

[0091] FIGS. 18a-18c are the actuation process of example self-tightening belt 500 of FIG. 17a. FIG. 18a shows the self-tightening belt 500 in an expanded state with a length L10. FIG. 18b shows travel T of free end 506 when current is applied to SMA spring 502. In this example, current is applied by an external source, through attached leads. FIG. 18c shows the self-tightening blet 500 in a contracted state with a length L11, shorter than length L10, following the application of current.

[0092] In embodiments, self-tightening belt 500 may be implemented as a pregnancy band. In embodiments, the width of the self tightening belt is increased for such an implementation. Additional features, such as the integration of a reel-based closure system to provide additional, one-handed fit control. Additionally, such an embodiment can serve as a postural correction device-especially for older adults with poor posture, such as sway back-offering easy donning and doffing and requiring minimal physical effort to achieve supportive alignment.

[0093] In embodiments, the reel-based closure system features a push-to-engage dial mechanism that enables users to tighten the band by simply twisting the dial. Once engaged, high-tensile-strength cords woven between two garment surfaces are gradually pulled together, delivering uniform compression with minimal effort. To release the system, the dial can be popped outward, instantly loosening the cords. This intuitive mechanism allows for fast and controlled adjustment with one hand, making it a preferred design choice for pregnant individuals with limited upper extremity mobility or strength, as well as for new mothers who may have one hand occupied while carrying a baby.

[0094] To effectively support pregnant individuals and new mothers, maternity support bands must address both ergonomic functionality and case of use. One of the key challenges in existing designs is the difficulty in donning and doffing. As disclosed herein, a maternity support band should integrate one-hand operation to improve accessibility, particularly for people in the later stages of pregnancy when upper limb movement may be limited or postpartum mothers who often have one hand occupied while holding or caring for their baby. Embodiments of the present disclosure address these problems by presenting a wearable solution including both the support features and the one-hand operation closure mechanism, without sacrificing comfort, circulation, adaptability, or the use of lightweight, sweat-wicking materials.

[0095] For an embodiment implemented as a pregnancy band, the donning process may be divided into two stages: (1) initial positioning and (2) band securing. In the first stage, an SMA actuation system, positioned at the back of the garment, automatically and comfortably centers the band on the user's abdomen. In the second stage, a reel-based adjustment system configured for one-handed operation, located on both sides of the torso, allows for additional tightening. As the reel-based system is tightened, the originally contracted SMA gradually relaxes as the fabric is drawn by the tightening reel-based mechanism. This transition transforms the SMA into a supportive structural element, providing rigid reinforcement to the lumbar spine. This two-phase approach provides a balance between case of use, adjustability, and effective support throughout different stages of pregnancy and postpartum recovery.

[0096] FIGS. 19a-19d collectively depict an embodiments of an adaptive pregnancy band 550, according to embodiments of the present disclosure. The adaptive pregnancy band 550 enables one-handed operation, by providing both a closure mechanism and a tightness adjustment system that specifically engineered to function effectively with a single hand, without compromising usability or support.

[0097] To enable true one-handed operation, the adaptive pregnancy band 550 is configured for temporarily self-anchoring to the body. This initial fixation reduces the need for bilateral coordination and allows users to complete the tightening or adjustment process with a single hand. SMA springs 552 provide this preliminary anchoring.

[0098] In the example of FIG. 19, fifteen thermally responsive SMA springs 552 are positioned along the posterior side of the garment. SMA springs may be fastened to the garment by, for example, snaps or rivets. These coil shaped SMA wires (SMA springs 552) contract when exposed to heat, causing them to shorten and generate tension across the band. Actuation of the SMA springs 552 serves as an initial self-anchoring mechanism, allowing the maternity support band to achieve initial fixation on the body.

[0099] Once this preliminary attachment is established, users can then utilize the closure mechanism 554 to perform precise and secure tightening, enabling full adjustment with one hand and improving both case of use and compression level. The closure mechanism 554, in addition to being operable with one hand, is configured to require minimal physical effort. Pregnant individuals experiencing upper extremity pain or reduced muscle strength may encounter difficulties manipulating conventional fasteners, such as Velcro. Therefore, closures that demand low force and support one-handed operation are incorporated into the disclosed designs. Some non-limiting examples of suitable systems include dial- and/or reel-based adjustment mechanisms (e.g., BOA), one-handed zipper systems with prethreaded tracks, and magnetic claspsall of which facilitate effective one-handed use while minimizing physical strain.

[0100] In addition to closure mechanism 554, adjustability maintains the garment's effectiveness throughout the dynamic changes of pregnancy. As the body undergoes progressive expansion, particularly in the abdominal and pelvic regions, the support garment accommodates fluctuations in size and shape without compromising comfort or compression. Systems that allow adjustments enable users to tailor the level of support in response to daily physical demands or varying postures.

[0101] To enhance overall comfort and adaptability, the adaptive pregnancy band 550 design may incorporate structural and material features beyond compression mechanisms. For example, an optional lower support strap 556 added at the bottom of the adaptive pregnancy band 550 provides targeted abdominal lift, such as may be desired during the third trimester, for example. In embodiments, support strap 556 is fully detachable and may be removed, e.g., during the postpartum period, to improve comfort and allow for greater mobility.

[0102] Adaptive pregnancy band 550 may be constructed with, for example, neoprene and a nylon-elastane blend which provide both flexibility and comfort. A nylon-elastane blend on its own offers high elasticity, but lacks sufficient structural integrity to deliver the necessary support and compression, and performance is improved by the addition of reinforcement materials, such as neoprene. In embodiments, a thermal barrier is provided between the SMA coils and the user's skin, for example a layer of poly-coated kraft paper embedded along the inner surface of the posterior panel. This protective layer mitigates the risk of burns or overheating during SMA activation. In embodiments, a discreet flap 558 is incorporated to cover the SMA components post activation, enhancing both aesthetics and mechanical durability.

[0103] Referring now collectively to FIGS. 20-26, an embodiment of a self-tightening shoe 600 adopting a hook-and-eye architecture 602. Snap buttons 604 are used to fix and connect an SMA spring 606. A connected shoelace 608 can be pulled tight during constriction of SMA spring 606. A hook component 610 is set in one of multiple eye components 612 to latch SMA spring 606.

[0104] The hook-and-eye closures 610, 612 are implemented to enable fastening at multiple cinch tightness. Snap buttons 604 are attached at two ends of a connected shoelace 608, for example one each on each end, and then affixed a single hook component 610 to the inner side of the snap button 604 (see, e.g., FIG. 22). Multiple eye components 612 are spaced regularly around the heel contour 614 of the self-tightening shoe 600. Purposefully-engineered channels 616 are established to ensure that the movement of connected shoelace 608 pulled by contraction of SMA spring 606 is in alignment with the eye components 612. After connecting to a power supply, SMA spring 606 contracts, and pulls both ends of connected shoelace 608, drawing the two sides of the quarters closer and tighter. During the contraction of the SMA spring 608 (FIG. 24 shows self-tightening shoe 600 during actuation), the hook 610 situated on the inner side of the snap button 604 latches with one of the eye components 612 positioned around the contour (FIG. 26 shows self-tightening shoe 600 after actuation is complete).

[0105] Referring now collectively to FIGS. 27-32, another embodiment, self-tightening shoe 700, is implemented with a powered electromagnetic fastener 702. The electromagnet fastener 702 fastens to a passive magnet 704. Electromagnetic fastener 702, which may be embedded in an elastic band 706, is attracted, when powered, to passive magnet 704 mounted to a tongue of self-fastening shoe 700.

[0106] The self-tightening process in this embodiment is accomplished using contraction of an SMA spring 708 to pull the two ends of the shoelaces, resulting in a tight fit. The constriction of multiple SMA springs 708 can pull elastic band 706 tight, forming the closure. In example self-tightening shoe 700, three reconfigurable SMA springs 708 are incorporated onto a wide elastic band 706 across a commercially available slip-on shoe (e.g., STQ Slip On Sneakers). In this way, SMA springs 708 may be arranged in panels on either side of the laces. Actuators, such as SMA springs 708, may be electrically controlled through, for example, Joule heating via current delivered through snap fixtures. In embodiments, actuation may occur via equilibration to body temperature, via direct applied heat, or via electrically-induced Joule heating. When in use, the actuators may be powered individually.

[0107] FIGS. 30-32 collectively depict the actuation process of the example adaptive show 700. During a power-up phase of electromagnet 702, a magnetic force of attraction is generated, latching to a passive magnet 704, which may be mounted on a tongue of self-tightening shoe 700. The magnetic force remains when the electricity is switched off, allowing the shoe to be permanently fastened without continuous power if desired. To separate the latch, a repelling magnetic force is generated by reversing the current direction when connecting electrical power to electromagnetic 702. Upon disconnecting electromagnet 702 from passive magnet 704, the elastic force exerted by elastic band 706 retracts it, triggering the release of SMA springs 708. In embodiments, electromagnet 702 and passive magnet 704 may be configured such that there is no attraction between the two until power is applied to the electromagnet. In embodiments, electromagnet 702 and passive magnet 704 may be configured such that attraction is only sustained when power is on.

[0108] In embodiments, two boning 710 built on both sides of the wide elastic band 706 to keep it moving in the correct direction to catch passive magnet 704. In embodiments, two, three, or another number of boning arranged around elastic band 706 may be used to guide alignment with passive magnet 704.

[0109] In embodiments, the self-tightening shoe may alternatively be configured with passive magnets on both the moving strap (e.g., elastic band 706) and on the shoe body, such that when properly aligned they passively and permanently attract or catch one another and require no power for fastening other than the power for the SMA springs to tighten the shoe's fit. In another alternative embodiments, a passive magnet is disposed on the shoe body and an electro permanent magnet (as discussed herein refers to an electromagnet that is passively magnetized or attractive and temporarily demagnetized when electricity is applied) is disposed on the moving strap, such that when properly aligned they passively attract or catch one another, but can subsequently be forcibly separated if desired by powering the electro permanent magnet.

[0110] In embodiments, the electromagnetic mechanism may be advantageous for fastening as is does not require precise alignment between the fastening components, in that the electromagnet fastens anytime the permanent magnet and electromagnet are within their local area of magnetic attraction. Additionally, using the electromagnet as the fastener could enhance the autonomous ability of the adaptive device, as it can actively unfasten as well by inverting the current to produce a repelling force rather than an attractive force.

[0111] In embodiments, self-tightening shoes 600, 700 are implemented as a side-opening design (a typical feature in commercially-available accessible shoes), which may improve ease of hands-free donning.

[0112] Overall, the various embodiments and fastening strategies disclosed herein, combined with SMA spring actuators are capable of providing both self-tightening and self-fastening functionality in everyday clothing form factors. With these garment-based soft robotic solutions, autonomy, and ease of use for individuals who struggle with clothing accessibility challenges are enhanced, enabling greater independence and improved daily living for individuals with physical limitations.

[0113] Illustrative examples of the systems and methods described herein are provided below. An embodiment of the system or method described herein may include any one or more, and any combination of, the clauses described below.

[0114] Aspect 1. An adaptive bra, including: an encircling band; a front panel connected to the encircling band and including at least one support panel configured to substantially cover at least one breast of a wearer; and at least one expanding panel including at least one shape memory material (SMM) actuator, wherein the at least one SMM actuator generates a linear contraction of the expanding panel when activated.

[0115] Aspect 2. The adaptive bra of aspect 1, further including at least one strap.

[0116] Aspect 3. The adaptive bra of aspect 1 or 2, wherein the at least one support panel includes two support panels.

[0117] Aspect 4. The adaptive bra of aspect 3, further including a center clasp arranged between the two support panels.

[0118] Aspect 5. The adaptive bra of aspect 4, wherein the center clasp is a buckle.

[0119] Aspect 6. The adaptive bra of aspect 5, wherein the buckle is a button buckle.

[0120] Aspect 7. The adaptive bra of any one of aspects 1-6, wherein the at least one expanding panel includes a mesh.

[0121] Aspect 8. The adaptive bra of any one of aspects 1-7, wherein the at least one expanding panel is continuous with the encircling band.

[0122] Aspect 9. The adaptive bra of aspect 8, wherein the at least one expanding panel is arranged laterally on the wearer.

[0123] Aspect 10. The adaptive bra of aspect 9, wherein the at least one expanding panel includes two expanding panels, wherein the two expanding panels are arranged opposite of one another across the wearer.

[0124] Aspect 11. The adaptive bra of aspect 10, wherein the at least one SMM actuator in each of the two expanding panels includes a plurality of SMM actuators.

[0125] Aspect 12. The adaptive bra of aspect 11, wherein the plurality of SMM actuators includes four SMM actuators.

[0126] Aspect 13. The adaptive bra of aspect 10, wherein the least one expanding panel further includes a third expanding panel.

[0127] Aspect 14. The adaptive bra of aspect 13, wherein the third expanding panel is a rear panel.

[0128] Aspect 15. The adaptive bra of any one of aspects 1-14, wherein the SMM is a shape memory alloy.

[0129] Aspect 16. The adaptive bra of any one of aspects 1-15, wherein the SMM actuator is activated by heat.

[0130] Aspect 17. The adaptive bra of any one of aspects 1-16, wherein the SMM actuator is activated by application of an electrical stimulation.

[0131] Aspect 18. An adaptive garment band, including: an encircling band including a free end; a cinch loop affixed to the encircling band; and at least one SMM actuator to the free end and the cinch loop of the adaptive garment band, such that when the SMM actuator contracts the free end is drawn toward the cinch loop, contracting the encircling band.

[0132] Aspect 19. The adaptive garment band of aspect 18, wherein the adaptive garment band is a belt.

[0133] Aspect 20. The adaptive garment band of aspect 18 or 19, further including a latching system configured to affix the free end to a contracted position on the encircling band.

[0134] Aspect 21. The adaptive garment band of any one of aspects 18-20, wherein the latching system includes a hook affixed to the free end and one or more eye loops arranged along the length of the encircling band.

[0135] Aspect 22. The adaptive garment band of aspect 18, wherein the adaptive garment band is a pregnancy support band.

[0136] Aspect 23. The adaptive garment band of aspect 22, wherein SMM actuator is arranged at a rear side of the encircling band.

[0137] Aspect 24. The adaptive garment band of aspect 22 or 23, further comprising one or more tightening operators.

[0138] Aspect 25. The adaptive garment band of any one of aspects 22-24, wherein the one or more tightening operators are arranged on one or both lateral sides of the encircling band.

[0139] Aspect 26. The adaptive garment band of any one of aspects 22-25, wherein the one or more tightening operators are configured for one hand use.

[0140] Aspect 27. The adaptive garment band of any one of aspects 22-26, wherein the one or more tightening operators are reel-based operators.

[0141] Aspect 28. An adaptive shoe, including: a shoe body with a sole and opposite upper side; a lacing system including at least one lace installed in the upper side of the shoe body such that drawing on the at least one lace constricts the upper side of the shoe body; and at least one SMM actuator affixed to a free end of the at least one lace such that when the at least one SMM actuator contracts the at least one lace is drawn to constrict the upper side of the shoe body.

[0142] Aspect 29. The adaptive shoe of aspect 28, further including latching system to affix the free end of the at least one lace in a drawn position.

[0143] Aspect 30. The adaptive shoe of aspect 28 or 29, wherein the latching system includes a hook-and-eye system.

[0144] Aspect 31. An adaptive shoe, including: a shoe body with a sole and opposite upper side; an elastic band arranged on the upper side of the shoe body such that drawing on the elastic band constricts the upper side of the shoe body; and at least one SMM actuator affixed to at least one side of the elastic band such that when the at least one SMM actuator contracts the elastic band is drawn to constrict the upper side of the shoe body.

[0145] Aspect 32. The adaptive shoe of aspect 28 or 31, further including latching system to affix the free end of the at least one lace or the elastic band in a drawn position.

[0146] Aspect 33. The adaptive shoe of aspect 32, wherein the latching system includes a magnetic latch.

[0147] Aspect 34. The adaptive shoe of aspect 33, wherein the magnetic latch includes a passive magnet affixed to the upper side of the shoe body.

[0148] Aspect 35. The adaptive shoe of aspect 33 or 34, wherein the magnetic latch includes an active magnet affixed to the elastic band.

[0149] Having described the preferred aspects and implementations of the present disclosure, modifications and equivalents of the disclosed concepts may readily occur to one skilled in the art. However, it is intended that such modifications and equivalents be included within the scope of the claims which are appended hereto.