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.

A walking training system includes: a tension unit that pulls a leg of a trainee upward and forward; a sensor provided for determining a start timing of a swinging end phase of the leg; and a control unit that reduces a tensile force of the tension unit from the start timing of the swinging end phase.

An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.

The invention relates to exoskeletons and artificial muscles for soft exoskeletons (1). The muscle (21, 22, 23, 24) comprises a first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, each comprising an attachment means (227) for attachment of said muscle to a muscle connector (32) of the exoskeleton (1), and a muscle core (223) made of a deformable material extending between said first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, the muscle core (223) preferably comprising an outer sleeve (225); wherein each of the first (211, 221, 231, 241) and second tendon (212, 222, 232, 242) is adapted for receiving a respective end of said muscle core (223); wherein the first tendon (211, 221, 231, 241) preferably comprises an actuation interface (229) for connection of said muscle core (223) to an actuator for generating an actuation; wherein the muscle core (223) is adapted to undergo a change in length when being actuated, thereby causing the first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon to move towards each other when said actuation received via the actuation interface is on or increased, and to move away from each other when said actuation is off or reduced.

The invention relates to exoskeletons and artificial muscles for soft exoskeletons (1). The muscle (21, 22, 23, 24) comprises a first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, each comprising an attachment means (227) for attachment of said muscle to a muscle connector (32) of the exoskeleton (1), and a muscle core (223) made of a deformable material extending between said first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, the muscle core (223) preferably comprising an outer sleeve (225); wherein each of the first (211, 221, 231, 241) and second tendon (212, 222, 232, 242) is adapted for receiving a respective end of said muscle core (223); wherein the first tendon (211, 221, 231, 241) preferably comprises an actuation interface (229) for connection of said muscle core (223) to an actuator for generating an actuation; wherein the muscle core (223) is adapted to undergo a change in length when being actuated, thereby causing the first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon to move towards each other when said actuation received via the actuation interface is on or increased, and to move away from each other when said actuation is off or reduced.

The invention relates to a wearable device for determining a nature of motion and/or a physiological state of a wearer. The wearable device comprises a body portion configured to be worn by the wearer and at least one sensor mounted to the body portion configured to, while the wearable device is being worn, detect a motion parameter of the wearer and/or a physiological parameter of the wearer and generate input data indicative of the motion parameter and/or the physiological parameter. The wearable device further comprises a processor configured to receive the input data from the at least one sensor and process the input data by executing an algorithm to determine the nature of motion and/or the physiological state of the wearer while the wearable device is being worn. The invention further relates to a system for determining a nature of motion and/or a physiological state of a wearer.

A knee movement support device according to an embodiment of the present disclosure is a knee movement support device attached to a leg of a user, and includes: an upper leg link fastened to an upper leg of the user; a lower leg link fastened to a lower leg of the user; and an interval adjusting portion disposed between the upper leg of the user and the upper leg link or between the lower leg of the user and the lower leg link.

A knee movement support device according to an embodiment of the present disclosure is a knee movement support device attached to a leg of a user, and includes: an upper leg link fastened to an upper leg of the user; a lower leg link fastened to a lower leg of the user; and an interval adjusting portion disposed between the upper leg of the user and the upper leg link or between the lower leg of the user and the lower leg link.

A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.

A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.