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.

A robotic orthosis device for assisting users to rotate their wrist with a pair of fabric-based helical actuators and a sleeve or rigid interfaces configured to attach to a user's forearm. Each of the helical actuators includes a cylinder and a pneumatic bladder configured to inflate the cylinder. Each cylinder includes an anisotropic sheet material and a base sheet material running the length of the cylinder. The anisotropic sheet material comprises elastomeric strands that enable the material to stretch in a direction parallel to the orientation of the elastomeric strands, but different than the longitudinal axis of the cylinder. The base sheet material, which is affixed to the anisotropic sheet material, is strain-limiting along the longitudinal axis. When the bladder is pressurized, the expansion of the bladder causes the cylinder to stretch and twist, thus generating a helical force on the user' wrist relative to the elbow.

The invention relates to an exoskeleton for assisting human movement, which can be fitted to the user in terms of dimensions, tension and ranges of joint motion, either manually or automatically. Said exoskeleton can be fitted to the user in the anteroposterior direction in the sagittal plane, with the user in a horizontal or sitting position, without requiring a functional transfer. The exoskeleton has a modular design which is compatible with human biomechanics and reproduces a natural and physiological movement in the user, with up to 7 actuated and controlled degrees of movement per limb, ensuring that the user maintains equilibrium during locomotion.

Methods and systems are disclosed for capturing sensor data collected by a personal massaging device with associated sensors, analyzing the data, determining biofeedback data based on the sensor data, and according to some embodiments generating a sexual response profile based on the biofeedback data and a model of human sexual response. Data may be collected and analyzed for a number of uses, including but not limited to: (1) studying human sexual response, (2) adjusting outputs of the personal massaging device based on preset conditions, (3) treating sexual dysfunction conditions, and (4) improving sexual experiences.

A system and method for transmission of a signal for a powered assistive device has a sensor node with a wireless transmitter adapted for digitally transmitting a transmitted signal, the sensor node adapted for receiving and monitoring a sensor signal from a sensor attached to a user, and a master node with a controller and a wireless receiver for receiving the transmitted signal from the wireless transmitter. The master node processes the transmitted signal and communicates a control signal to the powered assistive device. The wireless transmitter transmits the transmitted signal at a first rate when the wireless transmitter adapted to transmit the transmitted signal at a first rate when the sensor signal is indicative of the rest state and to transmit the transmitted signal at a second rate when the sensor signal is indicative of the active state, the second rate being greater than the first rate.

A method and apparatus to detect environmental triggers of stress and antecedent physiological stress symptoms of a patient, followed up with delivery of stress relieving therapeutic response to the patient and a chronological report of events. An embodiment comprises a first device worn by the patient that contains sensors and can transmit and receive signals and a second device used by the caregiver that can transmit and receive signals. This integrated system continuously monitors environmental triggers and physiological stress indicative parameters of a patient diagnosed with autistic spectrum disorder, or other emotional or physical disorders, and compares these parameters against thresholds for the parameters. These thresholds can be configured automatically by the system—based on past episodes—or manually by the caregiver, or using automatically configured thresholds that are fine-tuned by the caregiver. When the parameters exceed the configured thresholds, several responses can be automatically generated by the system including: 1) generating therapeutic calming responses and cues to the patient to alleviate the episode, 2) sending notifications to the caregiver's device for intervention, and 3) creating a chronological assessment report of environmental stress triggers, antecedent physiological stress symptoms, and the resultant behavior of the patient.

A method of predicting successful treatment of disorders of bodily tissue includes obtaining, with a device, energy signal data from the bodily tissue of a patient. The obtained energy signal data is analyzed in a controller to determine an activity score value associated with the bodily tissue. The activity score value is compared, in the controller, to a threshold value, with the threshold value being based on energy signal data from the same bodily tissue of normal, disease free patients. Based on the comparison, a probability of success of a particular therapy in treating the bodily tissue is determined. A system for performing the method is also disclosed.

A system or method for motor rehabilitation of a paretic limb including: a first plurality of sensors for registering brain neurosignals; a body-actuator; a hybrid brain machine interface for decoding brain neurosignals into movements of the body-actuator; a second plurality of EMG sensors couplable to the paretic limb for registering its EMG activity; a device for providing the patient with instructions relative to a series of exercises and/or tasks to be carried out with the paretic limb;
wherein upon carrying out a series of training sessions, each session comprising at least a set of such instructions, the hybrid brain machine interface is configured to switch between controlling the movements of the body-actuator based on the decoded brain neurosignals and a hybrid control of the movements of the body-actuator, when a significant level of decodable EMG activity has been registered, the hybrid control being an EMG-gated brain control.

Uterine massage belts and related methods are generally described. In some embodiments, a massage belt may be configured to compress a uterus between two force-applying components to induce uterine contraction and reduce the risk of postpartum hemorrhage. The belt may include at least one roller configured to push at least a portion of the uterus (e.g., the uterine fundus) in an inferior direction. The belt may be used with at least one inflatable body to push at least a portion of the uterus in a superior direction. The uterus positioned between the opposing forces may be urged to contract and increase its muscle tone to avoid severe postpartum complications. In some embodiments, the inflatable body may be part of the belt and may be positioned proximal to the pubic bone of the patient. In other embodiments, the inflatable body may be separate from the belt and positioned inside the vagina.

A soft-inflatable exosuit for knee rehabilitation is fabricated in two different beam-like structures (I and O cross-section actuators) and mechanically characterized for their torque performance in knee-extension assistance. The fabrication procedure of both types of actuators is presented as well as their integration into a light-weight, low-cost and body-conforming interface. To detect the activation duration of the device during the gait cycle, a soft-silicone insole with embedded force-sensitive resistors (FSRs) is used. In evaluation studies, the soft inflatable exosuit device is tested for its ability to reduce muscle activity during the swing phase of the knee. Using sEMG (surface electromyography) sensors, the rectus femoris muscle group of a healthy individual is recorded while walking on a treadmill at a constant speed, with and without the soft device.