A single-lower-limb rehabilitation exoskeleton apparatus and control methods includes a controller, an intact lower-limb component and a paretic lower-limb component connecting communicatively with the controller. The controller is used to determine the current state of the intact lower-limb through the intact lower-limb component and the current state of the paretic lower-limb through the paretic lower-limb component. When the intact lower-limb component is in the lifting state, the movement data of the intact lower-limb is collected and sent to the controller. The controller is used to determine the corresponding gait data for the paretic lower-limb component according to the movement data of the intact lower-limb and send the gait data to the paretic lower-limb component. The paretic lower-limb component is used to drive the paretic lower-limb to move or walk according to the gait data while the intact lower-limb is in the supporting state.

A mechanical foot includes a mechanical ankle joint including a leg portion configured to be fixed to a patient's leg, a foot portion configured to be fixed to the patient's foot, and a revolute. The leg portion and the foot portion are connected through the revolute in a manner of being rotatable relative to each other. The revolute includes a foot connecting portion connected to the foot portion and a leg connecting portion connected to the leg portion, and the foot connecting portion and the leg connecting portion are connected in a manner of being rotatable relative to each other. The revolute further includes a first elastic element having one end connected to the foot connecting portion, and the other end connected to the leg connecting portion, so that a force maintaining the patient's foot substantially horizontal is provided through the revolute at a position of the mechanical ankle joint.

A mechanical foot includes a mechanical ankle joint including a leg portion configured to be fixed to a patient's leg, a foot portion configured to be fixed to the patient's foot, and a revolute. The leg portion and the foot portion are connected through the revolute in a manner of being rotatable relative to each other. The revolute includes a foot connecting portion connected to the foot portion and a leg connecting portion connected to the leg portion, and the foot connecting portion and the leg connecting portion are connected in a manner of being rotatable relative to each other. The revolute further includes a first elastic element having one end connected to the foot connecting portion, and the other end connected to the leg connecting portion, so that a force maintaining the patient's foot substantially horizontal is provided through the revolute at a position of the mechanical ankle joint.

A gait evaluation apparatus that evaluates a training gait of a paralyzed patient suffering from paralysis in a leg includes an acquisition unit configured to acquire a plurality of motion amounts of a paralyzed body portion according to a gait motion and an evaluation unit configured to evaluate that the gait motion is an abnormal gait in a case where at least one of the motion amounts acquired by the acquisition unit meets any one of a plurality of abnormal gait criteria set in advance. The abnormal gait criteria include at least two or more first criteria, which are criteria relevant to motion amounts of different parts of the paralyzed body portion, or at least two or more second criteria, which are criteria relevant to motion amounts of the same part of the paralyzed body portion in different directions.

A gait evaluation apparatus that evaluates a training gait of a paralyzed patient suffering from paralysis in a leg includes an acquisition unit configured to acquire a plurality of motion amounts of a paralyzed body portion according to a gait motion and an evaluation unit configured to evaluate that the gait motion is an abnormal gait in a case where at least one of the motion amounts acquired by the acquisition unit meets any one of a plurality of abnormal gait criteria set in advance. The abnormal gait criteria include at least two or more first criteria, which are criteria relevant to motion amounts of different parts of the paralyzed body portion, or at least two or more second criteria, which are criteria relevant to motion amounts of the same part of the paralyzed body portion in different directions.

In some embodiments, a body anchor for supporting an assistive device can include: a cuff to exert a compression force on a body part of a user; and one or more tensile elements having first ends and second ends. The first ends of the tensile elements can be configured to be attached to the assistive device. The second ends of the tensile elements can be arranged about the cuff to cause the compression force to vary in proportion to a load exerted by the assistive device.

In some embodiments, a body anchor for supporting an assistive device can include: a cuff to exert a compression force on a body part of a user; and one or more tensile elements having first ends and second ends. The first ends of the tensile elements can be configured to be attached to the assistive device. The second ends of the tensile elements can be arranged about the cuff to cause the compression force to vary in proportion to a load exerted by the assistive device.

A cover for a walking frame comprising: a central crossmember portion, a left arm portion, and a right arm portion; said left and right arm portions comprising a receptacle defined by an inner flap and an outer flap on each of said left and right arm portions; and wherein said central crossmember portion comprises at least one fastener pair for securing said central crossmember portion.

A cover for a walking frame comprising: a central crossmember portion, a left arm portion, and a right arm portion; said left and right arm portions comprising a receptacle defined by an inner flap and an outer flap on each of said left and right arm portions; and wherein said central crossmember portion comprises at least one fastener pair for securing said central crossmember portion.

This application relates to an actuation system for assistive wearable devices such as exoskeletons designed to actuate a joint of a wearer of the device. The actuation system includes a differential pulley drum having a first drum portion and a second drum portion, the first drum portion and the second drum portion having different radii. The differential pulley drum is located at a first end of the actuator. The actuation system further includes a motor coupled to the differential pulley drum and configured to rotate the differential pulley drum, a second pulley located at a second end of the actuator, a flexible sleeve that extends between the differential pulley drum and the second pulley, and a strand that extends from the differential pulley drum to the second pulley through the flexible sleeve.