An exoskeleton structure includes a back assembly, an arm assembly, and a shoulder connection device. The shoulder connection device includes a first connection part, a first pivot connecting the first connection part to the back assembly while allowing rotation of the first connection part around a first axis of rotation, a second connection part, a second pivot connecting the first connection part to the second connection part while allowing rotation of the second connection part around a second axis of rotation orthogonal to the first axis, and a third pivot connecting the second connection part to the arm assembly while allowing rotation around a third axis of rotation orthogonal to the second axis of rotation. The second pivot is arranged so that the second axis of rotation forms a non-zero angle with an abduction/adduction axis of the shoulder and a non-zero angle with a flexion/extension axis of the shoulder.

A device for spine rehabilitation comprising a support frame, immovable crossbars, movable crossbars, and a holder and systems of actuators supporting a patient's head, shoulders, hip, knees, and feet , characterised in that it is equipped with linear actuators (8) mounted to the holder (7) supporting the patient's head and shoulders, whereby the holder (7) has a driving mechanism (9) situated horizontally and mounted to an immovable crossbar (6) of the support frame (1) and in its lower part is rotationally mounted, at the rotation point (10) of the holder, to the immovable crossbar (6). A method for spine rehabilitation using the device for lateral deviation of the patient's torso, whereby the patient's body situated horizontally, face up, is lifted on eight sling hangers taking hold of his/her head and his/her back in the points of shoulder girdle and pelvis girdle.

An exoskeleton apparatus includes a base unit, a support unit, and upper and lower arm units. The support unit is rotatable about a vertical first axis relative to the base unit. The upper arm unit includes a linking axle, a main arm that has a connecting end rotatable about a horizontal second axis, and a linkage mechanism for rotating the linking axle relative to the main arm about a horizontal third axis. The lower arm unit is rotatable relative to the upper arm unit, and includes a lower arm set co-rotatably coupled to the linking axle, a hand-receiving seat rotatably connected to the lower arm set, and a lower arm receiving seat connected to the hand-receiving seat, and a drive member for rotating the hand-receiving seat about a horizontal fourth axis.

The present disclosure provides a waist rotating mechanism. The waist rotating mechanism includes: a back connection structure (10), where the back connection structure (10) is configured to connect to the back of a user, and a mobile apparatus (11) is disposed on the back connection structure (10); and a rail (20), where the mobile apparatus (11) is disposed movably on the rail (20). The waist rotating mechanism of the present disclosure enables the user to complete a waist rotation action by rotating the waist to slide the mobile apparatus on the rail, and has a simple structure and high flexibility.

A lumbar herniated disc treatment device includes an upright post, a rail vertically mounted on the upright post, a chest fixing device up-and-down, slidably mounted on the rail, a lumbar traction and torsion device up-and-down slidably mounted on the rail and positioned below the chest fixing device, and a waist massage device up-and-down slidably mounted on the rail and positioned between the chest fixing device and the lumbar traction and torsion device.

Apparatus for exercise the musculature and mobility of the joints in the neck wherein the apparatus comprises an upper part 4, a bottom part and a connecting element 3 connecting the upper and the bottom part, and wherein the upper part 4, the bottom part and the connecting element 3 defines a space in which the head of a user can be placed, characterized in that to the upper part 4 there is attached a cradle 5 in which the head of the user can rest and the lower part has attached a pillow for neck support 2.

A method for calibrating and executing a rehabilitation exercise for a stroke-affected limb of a stroke patient is disclosed, the method comprising the steps of providing a haptic device for an able limb of the stroke patient to manipulate to perform a calibration action to result in a first position of the haptic device, and providing the haptic device for the stroke-affected limb to manipulate to perform the calibration action to result in a second position of the haptic device. The method further comprises the steps of moving the haptic device coupled with the stroke-affected limb from the second position towards the first position until a predetermined counterforce is detected, indicating an extreme position for the stroke-affected limb using the haptic device, and calibrating the haptic device with the extreme position such that during the rehabilitation exercise, the haptic device is prevented from moving beyond the extreme position.

A therapeutic device that surrounds and firmly grips the upper part of the arm and which allows the therapist to apply a pair of opposing tangential forces (13) to the protrusions or protuberances (6) and (7) of the device in order to perform passive internal and external shoulder rotation exercises without transmitting any force to the elbow. This means of applying forces directly to the upper part of the arm prevents the forearm from having to be used as a lever to perform rotations, which can damage or affect the elbow during the therapeutic process. In addition, the device allows the greatest possible force to be applied to the shoulder to maximize recovery. The alternative design of the device allows a variable speed motor to be coupled by incorporation of coupling parts (14), (15).

The invention relates a device for supporting two arms 4 of a user 2 wherein the device has two arm support elements 6, each of which has an arm shell 10 for placing on an arm 4, at least one passive actuator 26, which is configured to apply a force to at least one of the arm support elements 6, and at least one counter bearing 14 for the force to be applied, which comprises at least one counter bearing element 16 and at least two force transmission elements 18, which are configured to transfer a counter force from each of the arm support elements to the counter bearing element 16,
wherein the force transmission elements 18 are arranged on the counter bearing element 16 such that they can be moved relative to the counter bearing element 16, in particular they can be rotated about at least one rotational axis.

The invention concerns an exoskeleton structure (1) comprising:a back assembly (2) intended to be attached on the back of a user,an arm assembly (3) intended to be attached to an arm of the user,a shoulder connection device (4) connecting the back assembly (2) to the arm assembly (3), the shoulder connection device (4) comprising a first pivot (10), a second pivot (12) and a third pivot (14), allowing a rotation of the arm assembly (3) with respect to the back assembly (2) about a first axis of rotation (X1), a second axis of rotation (X2) and a third axis of rotation (X3), wherein the second pivot (12) is designed such that the second axis of rotation (X2) forms a non-zero angle with an abduction/adduction axis of the shoulder of the user and a non-zero angle with a flexion/extension axis of the shoulder of the user when the user is standing with arms relaxed along the body.