A stimulator substrate device for stimulating nerve cells, and apparatus including same, in particular nerve cells in an extremity, includes a substrate support, in which a plurality of stimulators for emitting stimulation signals to the nerve cells are provided. The plurality of stimulators is provided in a line on the substrate support and the substrate support is tubular.

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.

Systems, devices and methods for detecting ground contact with a lower-limb POD. A sensor array for the POD on a first or second body may include two or more sensors in an array that each detect a distance to a respective target on the other of the first or second body. The first and second bodies may move relative to each other thereby changing an offset distance or distances between the two bodies which is detected by the sensors. In some embodiments, the sensors may include Hall Effect sensors that detect distances to respective magnets. Load data based on the detected distances may be generated for control of the POD, such as for stance phase control.

A joint for an orthopedic device, the joint comprising: a first element; a spring support mounted to the first element and having at least one spring element; and a second element, the second element being pivotally mounted to the first element in a first swiveling direction counter to a first force applied by the at least one spring element and in an opposite second swiveling direction counter to a second force applied by the at least one spring element.

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.

The present disclosure provides for a device and method of control for an artificial prosthetic knee. A prosthetic knee according to the present disclosure relies on strictly passive means of providing support during weight bearing and supplements a resistive swing-phase mechanism with a small powered actuator. This actuator adds power to the knee, exclusively during swing phase, to improve swing-phase behavior. In particular, the knee still relies on the resistive swing-phase mechanism to provide nominal swing-phase knee motion, but supplements that motion as needed with the small powered actuator.

A motion assisting device assists a movement of a wearer raising an upper body and includes a first assisting unit and a second assisting unit. The first assisting unit and the second assisting unit are attached to a left side surface and a right side surface of the wearer, respectively, and each include a power unit that swings a leg rod and applies, to the leg rod, a force in accordance with the swinging movement of the leg rod. The power unit is connected to a back surface frame that is a rigid body and connects the first assisting unit and the second assisting unit. A back plate of an upper body fixing member is connected to the back surface frame by a coupling member. The back plate is swingable at least in an up-down direction and a left-right direction with respect to the back surface frame.

The invention discloses a bionic wrist joint based on an asymmetric 3-RRR parallel mechanism, including: an asymmetric 3-RRR parallel mechanism and a drive unit. The asymmetric 3-RRR parallel mechanism includes: a moving platform, a first static platform, and three asymmetrically distributed parallel branch chains, wherein each branch chain includes a passive rod and an active rod. An end of the active rod is connected to the first static platform via the revolute pair, and another end thereof is connected to the passive rod via the revolute pair. The axes of the revolute pairs at two ends of the active rod form an axis included angle. Three axis included angles are different, the passive rod and the moving platform are connected by the revolute pair, and three axis included angles corresponding to the passive rods are different. The drive unit is configured to drive the asymmetric 3-RRR parallel mechanism to move.

The invention discloses a bionic wrist joint based on an asymmetric 3-RRR parallel mechanism, including: an asymmetric 3-RRR parallel mechanism and a drive unit. The asymmetric 3-RRR parallel mechanism includes: a moving platform, a first static platform, and three asymmetrically distributed parallel branch chains, wherein each branch chain includes a passive rod and an active rod. An end of the active rod is connected to the first static platform via the revolute pair, and another end thereof is connected to the passive rod via the revolute pair. The axes of the revolute pairs at two ends of the active rod form an axis included angle. Three axis included angles are different, the passive rod and the moving platform are connected by the revolute pair, and three axis included angles corresponding to the passive rods are different. The drive unit is configured to drive the asymmetric 3-RRR parallel mechanism to move.