Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

There is disclosed a mobility aid for use by a user having a lower body amputation site. The mobility aid includes a lower body exoskeleton (LBE). The LBE has a pelvic support structure and a first leg and a second leg. Each of the first and second legs are movably coupled to the pelvic support structure, wherein at least the first and second legs are selectively actuable to move the lower body exoskeleton relative to a surface on which the mobility aid is positioned. The LBE also includes a carrier selectively positionable with respect to the lower body exoskeleton and, which in use, supports the user at or about an amputation site; and a harness system configured to, when in use, secure the user to the lower body exoskeleton.

There is disclosed a mobility aid for use by a user having a lower body amputation site. The mobility aid includes a lower body exoskeleton (LBE). The LBE has a pelvic support structure and a first leg and a second leg. Each of the first and second legs are movably coupled to the pelvic support structure, wherein at least the first and second legs are selectively actuable to move the lower body exoskeleton relative to a surface on which the mobility aid is positioned. The LBE also includes a carrier selectively positionable with respect to the lower body exoskeleton and, which in use, supports the user at or about an amputation site; and a harness system configured to, when in use, secure the user to the lower body exoskeleton.

A prosthetic limb includes: a socket as a thigh part; a thigh joint part provided on a side of the socket; a lower leg part coupled to the thigh joint part and provided to be rotatable around a knee shaft; a thigh part inclination angle acquisition unit that acquires an inclination angle Ψ formed by the socket relative to a vertical line passing through the knee shaft; and a rotational resistance control unit that weakens a rotational resistance of the knee shaft in accordance with a transition from a positive inclination angle formed when the socket is inclined rearward relative to the vertical line to a negative inclination angle formed when the socket is inclined forward relative to the vertical line.

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

A wearable assistance apparatus is disclosed, wherein the wearable assistance apparatus may include a first frame configured to transfer a power in a first direction to assist a user, a second frame configured to transfer the power in a second direction to assist the user, a first wearing portion configured to urge the second frame towards the user in response to the first wearing portion being pulled in the first direction, and a second wearing portion configured to urge the first frame towards the user in response to the second wearing portion being pulled in the second direction.

Bone anchor assemblies and related methods are disclosed herein that can provide for improved fixation of a primary bone anchor. A bone anchor assembly can include a wing with a distal portion that can define a plurality of auxiliary bone anchor openings. Each auxiliary bone anchor opening can receive an auxiliary bone anchor that can augment fixation of a primary bone anchor of the bone anchor assembly. The plurality of auxiliary bone anchor openings can be oriented such that, when the wing is coupled to a primary bone anchor assembly of a vertebral level in a first configuration, at least one auxiliary bone anchor can be driven to extend across a facet plane of the vertebral level and, when coupled in a second configuration, each auxiliary bone anchor received within the wing can be driven to conform to the vertebral level.

Bone anchor assemblies and related methods are disclosed herein that can provide for improved fixation of a primary bone anchor. A bone anchor assembly can include a wing with a distal portion that can define a plurality of auxiliary bone anchor openings. Each auxiliary bone anchor opening can receive an auxiliary bone anchor that can augment fixation of a primary bone anchor of the bone anchor assembly. The plurality of auxiliary bone anchor openings can be oriented such that, when the wing is coupled to a primary bone anchor assembly of a vertebral level in a first configuration, at least one auxiliary bone anchor can be driven to extend across a facet plane of the vertebral level and, when coupled in a second configuration, each auxiliary bone anchor received within the wing can be driven to conform to the vertebral level.

A hydraulic actuator for orthotics or prosthetics, comprising a control element with a housing, in which a cylinder is arranged, in which a piston is mounted so as to be movable and divides the cylinder into a flexion chamber and an extension chamber, a fluidic connection is arranged between the flexion chamber and the extension chamber, and in each of said chambers there is arranged a control valve for influencing the extension movement or flexion movement, a motorised pump being arranged in the fluidic connection, with the hydraulic fluid being conducted from one chamber to the pump through at least one control valve in an intake-side connection line, and a check valve being arranged in a delivery-side connection line from the pump to the other chamber and blocking a return flow of the pumped medium from this chamber to the pump against the conveying direction of the pump.