A control method for controlling an actuator (11) connected to a load (50) for handling, the method comprising the steps of: detecting an intention to handle the load (50); applying an increasing command to the actuator (11) until detecting a movement of the actuator (11); storing the value reached by the command when a movement of the actuator (11) is detected; using the stored value reached by the command to determine an estimate of the opposing force exerted by the load (50) for handling; and controlling the actuator by means of a force servocontrol relationship using the estimate of the opposing force exerted by the load (50) for handling in order to establish the commands to be applied to the actuator (11).

A cobot (1) arranged to perform the method.

A wheeled walker including a front wheel pair viewed in a driving direction and a rear wheel pair viewed in the driving direction; a frame including rearward oriented struts, wherein each of the rearward oriented struts supports a rear wheel of the rear wheel pair; a platform attached at the wheeled walker, wherein the platform includes at least one platform wheel and a standing platform for a person using the walker; and an electric drive that is configured to move the wheeled walker forward in the driving direction, wherein the wheeled walker includes a coupling device that attaches the platform at the wheeled walker and transfers pull forces and push forces between the wheeled walker and the platform, wherein the coupling device is arranged in an intersection portion of a scissor linkage that is associated with the wheeled walker.

Embodiments herein are directed to a system that includes a powered wheelchair, a user-worn exoskeleton, and a master controller. The master controller monitors the independent movements of the powered wheelchair and the user-worn exoskeleton. The master controller prioritizes the movement of the powered wheelchair and the user-worn exoskeleton such that only one of the powered wheelchair or the user-worn exoskeleton will have the priority to complete the intended movement. The master controller may coordinate movements between the powered wheelchair and the user-worn exoskeleton so to perform a plurality of predetermined programs. For example, assisting a user to sit within the powered wheelchair, to assist a user to stand from a seating position when outside of the powered wheelchair, and/or use the powered wheelchair as a guide for walking.

A robotic assistant includes a wheeled base, a body positioned on the base, a foldable seat rotatably connected to the body, an actuator to rotate the foldable seat with respect to the body, and a control system that receives command instructions. The actuator is electrically coupled to the control system. In response to the command instructions, the control system is to control the actuator to rotate the foldable seat to a folded position or an unfolded position. The control system is further to detect whether an external force from a user has applied to the foldable seat, and release the actuator to allow the foldable seat to be manually rotated.

Each of three floors is adjacent to the other two floor robots so that a position at which three vertices selected each from the three floor robots face each other is set as a central point, and an information processing apparatus includes a floor robot guidance unit to specify an advancing direction and a walking speed of a walking person based on pressures detected by the floor robots when the walking person walks, to move the three floor robots at the specified walking speed in an opposite direction to the specified advancing direction, to specify, as a target vertex, a vertex that can be determined to lie in the specified advancing direction, other than the three vertices, and rotate at least one of the three floor robots so that the position of the target vertex is set as a new central point.

Disclosed is a collapsible walking device that can be disposed in an operative (open) configuration and a storage (closed) configuration. The open, operative configuration of the walking device provides a structure to aid a user in walking or standing. The closed, storage configuration allows for easy and convenient storage and transport of the walking device. The collapsible walking device can be transitioned from the operative configuration to the storage configuration in one motion. The walking device includes four support legs that extend to the ground from adjacent two handles, and a seat configured to support the user.

A method for controlling an ankle-type walking assistance device may include measuring an angle of a joint of the walking assistance apparatus, calculating an angular velocity and a linear velocity of a frame of the walking assistance device using an inertial measurement unit (IMU) attached to the frame, generating a dynamics model for the walking assistance device based on the angle of the joint, the angular velocity and the linear velocity of the frame, calculating a disturbance applied to the walking assistance device based on the dynamics model, and controlling the walking assistance device based on the calculated force, equivalent, or wrench.

A position-adjustable accessory handle device helps a user maneuver a rollator. The handle device provides an arced handle bar that detachably fastens to a rollator handle, serving as an extension. An adjustment bracket fits between handle bar and rollator handle, allowing the handle bar to adjustably articulate in height and angle, relative to the rollator handle. The handle bar has a short proximal section and a long distal section. An arced bridge extends therebetween. The bridge orients the proximal section towards the user, and allows for fastening to different rollators. The proximal section of handle bar has a grip member for gripping. Fastening holes form in the distal section of handle bar. An adjustment bracket fits between handle bar and rollator handle. This creates frictionless pivoting articulation of the handle bar; and to enable the handle bar to be fixedly oriented at a set angle relative to rollator handle.

A sole structure for an article of footwear having an upper. The sole structure includes an outsole having a ground-engaging surface and an upper surface formed on an opposite side of the outsole than the ground-engaging surface. The sole structure also includes a midsole attached to the outsole and including an outer perimeter surface extending between the outsole and the upper. The sole structure further includes a plate disposed at least partially within the midsole and extending (i) from a forefoot region of the sole structure, (ii) through a metatarsophalangeal (MTP) point of the sole structure, and (iii) toward a heel region of the sole structure. The plate includes a first plate portion extending from the outer perimeter surface of the midsole.

A portable modular stretching apparatus has a basic structure of a base, central rod, pulley, cable system, and two legs jointed at the central rod and alongside the base. Attachments are then added for customized stretching. Attachments provide for hamstring, hips, quadriceps, knees, gastrocnemius, ankle, and metatarsal stretching, limberness, and extension, and hyperflexion. A person adds and removes the attachments based on the desired stretch routine, controls the tension, and removes the attachments, and folds the apparatus when complete.