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 invention relates to a hand exoskeleton device having a modular nature. The device is designed to be wearable, portable and light in weight, and comprises from one to ten modules each having an actuating mechanism such as a linear actuator coupled with an artificial tendon having a flexible cable or shaft encased into a sheath and an elastic, stretchable portion on its distal end. The exoskeleton allows controlling flexion-extension of the fingers, while keeping natural somatosensorial interactions with the environment surrounding the users. The device is useful to e.g. assist and restore hand functions of users with motor disabilities both during activities of daily living and in neurorehabilitative scenarios, as well in other scenarios such as virtual reality.

An elbow joint rehabilitation system and an elbow joint rehabilitation method are provided. The elbow joint rehabilitation system includes a support member, a motor, a torque sensing unit, a first electromyography sensor, a second electromyography sensor and a motor control device. In the elbow joint rehabilitation method, the support member is configured to support an arm of a patient. Thereafter, the torque sensing unit is configured to sense the torque applied on the support member to obtain a sensed arm torque signal. Then, the first electromyography sensor and the second electromyography sensor are configured to sense the muscle activities of biceps and triceps of the patient to obtain electromyography signals. Thereafter, the motor is controlled to drive the support member to perform rehabilitation in accordance with the sensed arm torque signal, the electromyography signals and a current support member position provided by the motor.

An upper arm module of a wearable muscular strength assisting apparatus is provided. The upper arm module includes a base part configured to be connected to a wearer's body, and an upper arm part having a first end thereof coupled to the base part to be rotatable about a fixed point. The upper arm part is coupled to the wearer's upper arm to apply a torque thereto. The upper arm module further includes an elastic body having a first end thereof fixedly coupled to the upper arm part and generating an elastic force by deformation. In particular, the upper arm module also includes a first link having a first end thereof rotatably coupled to the base part at a point of application, and a second link rotatably coupled to the second end of the first link at a first point.

An apparatus for increasing blood flood to the feet that includes a base, a plate, an electric motor and a control system. The palate is axially connected to the base with a gradient between 20 to 45 degrees that enables it to rotate while the front part of the plate is higher than its rear part. The electric motor is designed to rotate the plate. The plate includes a fastener for attaching the feet. The axial connection serves as a rotation axis point of the plate and the distance between the feet center point to the rotation axis point is between 6 to 15 centimeters. The control system controls the operation of the motor so that the rotation speed of the plate is cyclically changed so that the first part of each rotation is at a different speed than the second part of the rotation.

A sitting type spinal traction and disc massage apparatus includes a seat member, a seat pad disposed atop the seat member, a fixing member straddling the seat member and the seat pad and connected to the seat member to fix hips of a user to the seat member, and a moving backrest board disposed atop a rear end of the seat member. The moving backrest board is movable relative to the seat member. A restricting member straddles and is connected to the moving backrest board to fix the user's upper body to the moving backrest board. A lifting unit is disposed below the moving backrest board to move the moving backrest board upwardly from the seat member to stretch the user's spine. A vibrating unit is disposed within and vibrates the seat pad.

Disclosed is a finger rehabilitation exercise guide apparatus, which is driven through a linear actuator to have a compact layout in an outer surface direction from an operation direction and is configured in such a way that a position of a prismatic joint in an inner surface layout of the operation direction is changeable by a designer, and as necessary, one prismatic joint, one revolute joint, and a link having opposite ends connected with a corresponding prismatic joint and revolute joint are replaced with one pin-in-slot joint while freely changing the position of the prismatic joint, to realize a small number of components and to precisely guide movement of the wearer's finger.

A stretching machine includes a table having a surface for supporting a patient and a first leg rest for supporting and moving a first leg of the patient. The first leg rest has a first vertical frame operable to rotate around a first horizontal pivot point at an end of the table and a first horizontal frame operable to rotate around a first vertical pivot point on the first vertical frame. A first vertical actuator is for rotating the first vertical frame around the first horizontal pivot point to move the first leg rest in a vertical direction relative to the surface of the table, and a first horizontal actuator is for rotating the first horizontal frame around the first vertical pivot point to move the first leg rest in a horizontal direction relative to the first vertical frame.

Provided herein are devices and methods for analysis and/or exercise of a body region of a subject. Such devices may include a guide arm supported by a support frame; a receiving surface supported by the guide arm, the receiving surface for receiving input force from the subject; and a motor assembly in communication with the guide arm, the motor assembly controlling movement of the receiving surface based on received input force. Exercise and/or analysis methods described herein may include steps of instructing the subject to apply an input force to a receiving surface; sensing the applied input force over time; and controlling movement of the receiving surface based on the received input force using a motor assembly, whereby the motor assembly moves the receiving surface in a pre-determined direction, so long as the input force remains within an allowable tolerance, until a pre-set end position is reached.

An actuator unit of the present invention includes upper and lower frames respectively connectable to a thigh frame and a lower leg frame, an actuator-side rotational connecting part connecting both frames in a rotatable manner around a pivot axis, a driver producing driving force for rotating the lower frame around the pivot axis, upper and lower connecting bodies respectively connecting the upper frame to the thigh frame and the lower frame to the lower leg frame, and an intermediate connecting body connecting the vicinity of the actuator-side rotational connecting part to the vicinity of a brace-side rotational connecting part, the intermediate connecting body having a ball stud and an accommodation depression respectively provided on one and the other of the knee-ankle-foot orthosis and the actuator unit.