Controlling movement of an end effector coupled to a robotic arm includes receiving an indication of a massage technique to be performed. It further includes determining a surface in a plurality of surfaces of the end effector to interact with a massage recipient when performing the massage technique. It further includes determining an operating space for the end effector in performing the massage technique based at least in part on the determined surface of the end effector. It further includes controlling the movement of the end effector to operate within the determined operating space.

Provided is a training device that suppresses unintended operation of an operation rod when executing an operation mode in which the operation of the operation rod is controlled based on a force applied to the operation rod. The training device includes the operation rod, a motor, a force detection unit, a rotation information output sensor, a first command calculation unit, and a force correction unit. The operation rod moves a limb. The motor operates the operation rod in a direction of degree of freedom. The force detection unit detects a force component and outputs a force component signal. The rotation information output sensor detects an operation position of the operation rod in a corresponding direction of degree of freedom. The force correction unit calculates a corrected force component value based on the operation positions of the operation rod and the force component signal. The first command calculation unit calculates a first motor control command based on the corrected force component value.

A motion assistance apparatus including a proximal support configured to support a proximal part of a user, a distal support configured to support a distal part of the user, a hollow actuator on the proximal support, a reducer inserted in the hollow actuator such that an input end of the reducer is connected to an output end of the hollow actuator, and a driving frame configured to connect an output end of the reducer to the distal support is disclosed.

A machine that combines three sections bound to each other by the corresponding dynamic swivels that are driven from a remote control of adjustment and command (R). The first section constitutes the main body (A) wherein a fixed frame whereby a sliding carriage (D) is defined, which is arranged associated with a first motor reducer (M1) which drives its rectilinear movement, in the horizontal plane and in both senses; said sliding carriage (D), by one end, is bound to an intermediate arm (B), which makes up the second section of the machine, being arranged over a pivoting transverse axis that is into a first dynamic swivel, which is arranged associated to a second driving motor reducer (M2) so that said intermediate arm (B) may make a pivoting movement in the vertical plane, with circular direction in both senses; said intermediate arm (B), by its other end, is bound to a head of the massage actuator (C), that makes up the third section of the machine, being arranged over a transverse axis that forms a second dynamic swivel, which is arranged associated to a third driving motor reducer (M3) so that said head of massage actuator may make a pivoting movement in the vertical plane, with circular direction in both senses; an actuator piston (P) is arranged into the head of the massage actuator (C) which transforms the rotating movement that transmits the output axis of a fourth motor reducer into an alternative linear movement that is transmitted to the piston for massage (23); constituting the four motor reducers an electronic driving installation by remote control, through which the positioning of each of the mobile parts duly bound to the rotating coders and end-of-travel positions is commanded. The electronic driving installation is comprised of the electronic controlling plate (E) installed in the main body (A) and includes a remote control processor (MP2) that receives the order, processes the information and sends it through the FR antenna (a4) of the remote control (R), to the FR antenna (a1) of the electronic system (E) installed into the machine, that communicates the information to its processor (MP1). The electronic installation of remote control includes the option of saving, through memories, the previous adjustment that the user establishes in each case.

A lift chair includes a lift mechanism that maintains a continuous seating position during forward and elevated movement by supporting the occupant's seat, arms and back. The mobile section of the chair will also lower the occupant to the normal seating height. The gel cushion seating surface is attached at least to the moveable section of the lift chair. The gel cushion seating surface of the chair has a plurality of gel cushion cylinders arranged in a grid that provide a rhythmically changing support area at multiple points on the occupant's buttocks and thighs. This provides a comforting massage which reduces stress on the body associated with prolonged seating.

A walking assistance apparatus includes stimulus applying means for applying a stimulus to a leg part on which a walking assistance apparatus is mounted and state detection means for detecting a supporting leg condition and a lifted leg condition of the leg part on which the walking assistance apparatus is mounted. The stimulus applying means applies a first stimulus to the leg part when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the lifted leg condition, and the stimulus applying means does not apply a stimulus to the leg part or applies a second stimulus that is weaker than the first stimulus when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the supporting leg condition.

Provided is a training device capable of executing a plurality of operation modes, in which an operation rod is appropriately operated according to an operation mode. The training device includes the operation rod, a plurality of motors, a plurality of force detection units, and a plurality of first command calculation units. The operation rod allows a limb to move. The plurality of motors operate the operation rod in the direction of degree of freedom in which the operation rod can move. Each of the force detection units detects a corresponding force component and outputs a force component signal. The first command calculation units are connected to the corresponding force detection units. Each of the first command calculation units calculates a first motor control command on the basis of the corresponding force component signal.

An ultra-thin massaging core includes a housing having two supporting bases, and a kneading massage mechanism including a kneading rotary shaft, a kneading drive device and two partial pendulum type kneading massage members. Ends of the kneading rotary shaft are mounted on the supporting bases. The kneading massage members are close to the ends of the kneading rotary shaft. The kneading drive device includes a kneading motor and a kneading speed reducer. A recessed accommodation space is formed between the supporting bases. The kneading motor is provided on the accommodation space. The kneading rotary shaft is located above the kneading motor, and the two are perpendicularly staggered. A first output end of an output shaft of the kneading motor is connected with the kneading rotary shaft through the kneading speed reducer in a transmission mode. The kneading speed reducer has a U-shaped transmission structure and is small in size.

The present invention provides a vibratory device used by holding in hand for general massage of skin as well as stimulation of erogenous zones. The vibratory device generally comprises a body, a vibrating plate positioned on the lower end of the body, a hand grip region at the upper end of the body. A speed controller is provided near the hand grip to control the speed of vibration. The vibratory device further can have a massage pad removably attached to the vibrating plate to absorb the vibrations. A soft elastomeric material such as CyberSkin can be removably attached to the massage pad for providing enhanced stimulation and sensitivity to the skin. The vibratory device provides stimulating erogenous zones directly on the skin or over the clothes in the crotch area for sexual exploration. The vibratory device allows easy control of the intensity and frequency of vibrations.

A joint actuator assembly incudes a motor, a rotating driving member driven by the motor for driving a driven component, and a transmission assembly located between the motor and the rotating driving member that provides speed reduction from the motor to the rotating driving member. The rotating driving member includes a magnetic/electrical coupling comprising a magnetic coupling component configured to magnetically couple with an opposing magnetic coupling of the driven component, and an electrical element configured to provide an electrical connection to an opposing electrical element of the driven component. The actuator and driven component may be combined into a mobility device including a magnetic/electrical coupling system comprising a first magnetic/electrical coupling on the actuator assembly that magnetically and electrically couples to a second magnetic/electrical coupling on the driven component. The magnetic coupling system includes a plurality of magnetic elements located on the first and/or second magnetic/electrical couplings and opposing electrical elements for electrical connection when the actuator assembly and the driven component are joined together.