Provided is a walking assistance method and apparatus for providing an assistance torque to an ankle of a user. To provide an assistance torque to an ankle of a user, a first pressure value and a second pressure value are received from a first pressure sensor and a second pressure sensor, a ratio between the first pressure value and the second pressure value is calculated, a gain value is determined based on the ratio, an assistance torque value is calculated based on the ratio and the gain value, and a driver is controlled to output the assistance torque value.

Apparatus for an orthopedic brace with magnetic assistance for assisting with a spastic gait. A pair of braces are configured to each support and secure a magnetic device on each leg above the knee. The magnetic devices generate a magnetic force sufficient to reduce a spastic gait. Each magnetic device has a magnetic field that interacts with a magnetic field of the other magnetic device. The magnetic field produces a magnetic force that repels the other magnetic device as the magnetic devices move relative to each other when the wearer walks. The shape of the magnetic field is configured to aid the wearer in avoiding the legs colliding while walking. In one embodiment discrete magnets are disposed on the medial side of each brace. In another embodiment magnetic material is integral with the medial side of each brace and the magnetic material has a selected field strength curve.

Apparatus for an orthopedic brace with magnetic assistance for assisting with a spastic gait. A pair of braces are configured to each support and secure a magnetic device on each leg above the knee. The magnetic devices generate a magnetic force sufficient to reduce a spastic gait. Each magnetic device has a magnetic field that interacts with a magnetic field of the other magnetic device. The magnetic field produces a magnetic force that repels the other magnetic device as the magnetic devices move relative to each other when the wearer walks. The shape of the magnetic field is configured to aid the wearer in avoiding the legs colliding while walking. In one embodiment discrete magnets are disposed on the medial side of each brace. In another embodiment magnetic material is integral with the medial side of each brace and the magnetic material has a selected field strength curve.

An illuminated walking assistance apparatus is disclosed. In at least one embodiment, the apparatus provides an elongated staff having a ground-engaging tip portion at a first end and a handle at an opposing second end. The staff provides a light pipe positioned proximal the tip portion and having a light-emitting member disposed therein to selectively illuminate the ground proximal the tip portion. The staff further provides a red nightlight which is always on so as to facilitate locating the apparatus in a dark environment.

An illuminated walking assistance apparatus is disclosed. In at least one embodiment, the apparatus provides an elongated staff having a ground-engaging tip portion at a first end and a handle at an opposing second end. The staff provides a light pipe positioned proximal the tip portion and having a light-emitting member disposed therein to selectively illuminate the ground proximal the tip portion. The staff further provides a red nightlight which is always on so as to facilitate locating the apparatus in a dark environment.

A motion assistance apparatus includes a proximal frame configured to support a proximal part of a user, a connecting frame rotatably connected to the proximal frame, a distal frame rotatably connected to the connecting frame and configured to support a distal part of the user, and a power transmitter including a slider configured to slide along the proximal frame, a pusher rotatably connected to the distal frame and the slider, and a coupler configured to connect the slider and the pusher and positioned closer to the proximal part of the user than a rotation axis of the connecting frame in the whole range of motion.

A motion assistance apparatus includes a proximal frame configured to support a proximal part of a user, a connecting frame rotatably connected to the proximal frame, a distal frame rotatably connected to the connecting frame and configured to support a distal part of the user, and a power transmitter including a slider configured to slide along the proximal frame, a pusher rotatably connected to the distal frame and the slider, and a coupler configured to connect the slider and the pusher and positioned closer to the proximal part of the user than a rotation axis of the connecting frame in the whole range of motion.

A balance assist and fall prevention assembly for preventing falls and providing balance assistance includes a plurality of rails and a harness. The rails are mountable to a ceiling of a structure and are selectively interconnectable so that respective rails are extend along an associated route in the structure that is routinely traversed by a user. A trolley is rollably engaged to the plurality of rails. The harness can be selectively donned by the user so that the harness is removably engaged to the user. A tether is engaged to and extends between the harness and the trolley. The tether is selectively length adjustable so as to extend substantially linearly between the harness and the trolley with the user standing substantially upright and beneath the trolley. The tether thus improves balance of the user and to prevents falling of the user.

A walking assist device applies resistance force to a movement of a knee joint of a user according to a walking state of the user to assist a walking motion of the user. The walking assist device includes an auxiliary control unit that decreases the resistance force applied to the movement of the knee joint of the user when the walking state of the user transitions from a standing phase to a swinging phase, and a knee collapse sensing unit that senses a knee collapse by detecting that the knee joint of the user is located forward of a waist portion of the user during the standing phase. When the knee collapse sensing unit senses the knee collapse, the auxiliary force control unit reduces a degree of a decrease in the resistance force or stops the decrease in the resistance force.

A walking assist device applies resistance force to a movement of a knee joint of a user according to a walking state of the user to assist a walking motion of the user. The walking assist device includes an auxiliary control unit that decreases the resistance force applied to the movement of the knee joint of the user when the walking state of the user transitions from a standing phase to a swinging phase, and a knee collapse sensing unit that senses a knee collapse by detecting that the knee joint of the user is located forward of a waist portion of the user during the standing phase. When the knee collapse sensing unit senses the knee collapse, the auxiliary force control unit reduces a degree of a decrease in the resistance force or stops the decrease in the resistance force.