A sliding assembly may include a supporting frame having a proximal end and a distal end, a sliding frame partially inserted to the supporting frame, and a supporting member disposed between the supporting frame and the sliding frame to prevent the supporting frame from directly contacting the sliding frame, wherein the sliding frame is configured to move relative to the supporting frame.

An intracorporeal portion of a percutaneous device for a joint disarticulation prosthesis or joint replacement prosthesis, the intracorporeal portion having an extracorporeal portion or having means for rigidly coupling directly to an extracorporeal portion, the extracorporeal portion being for location exterior to the skin, the intracorporeal portion having an articulating component for articulating with an articulating surface, wherein the articulating component is intracorporeal when installed in a human or animal subject.

A prosthetic joint system for users comprising a housing having an interior cavity, a center axis in said interior cavity, and an attachment means for fixedly connecting said housing to said user; an inner cylinder disposed in said housing interior cavity wherein said inner cylinder rotates around said center axis of said housing; an appendage attached to said inner cylinder; a sensor system attached to said appendage; and a dampening system, having a power source, in communication with said sensor system, said inner cylinder, and said housing for controlling dampening of the rotation of said inner cylinder around said center axis of said housing.

An exoskeleton includes first and second compression members configured to be coupled to a wearer of the exoskeleton. A tensegrity joint connects the first compression member to the second compression member, the joint including a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side.

A leg orthosis including a securing device for securing the leg orthosis to the body of a orthosis user and at least one articulation device by means of which a first orthosis component, which can be fixed to an extremity of the user, is mounted such that it can pivot with respect to the securing device. The articulation device includes at least three joints, which respectively comprise at least one pivot axis, and each pivot axis intersects at a common point.

Local swing leg control was developed that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics. Alternatively, a detailed neuromuscular model of the human swing leg was developed to embody the control with local muscle reflexes. The resulting reflex control robustly places the swing leg into a wide range of landing points observed in human walking and running, and it generates similar patterns of joint torques and muscle activations. The results suggest an alternative to existing swing leg controls in humanoid and rehabilitation robotics which does not require central processing.

A driving module may include a driving source configured to generate power, a gear train that includes a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side of the gear train, and a rotary joint that includes at least one planetary gear configured to rotate in response to power received from an output end of the decelerating gear set and to revolve along the ring gear. The driving module may include one or more noise reducing members configured to mitigate noise produced based on interaction between one or more elements of the driving module. The driving module may be included in a motion assistance apparatus, where the driving module drives a module that supports a portion of a user body.

Provided is a torque output timing adjustment method and apparatus, wherein an assistance power provided by a walking assistance apparatus is determined based on an output assistance power and a joint angle rate, a pattern of a joint angle rate varies for each user based on a gait pattern varying for each user, and an assistance torque provided to a user is adjusted in response to an adjustment of a torque output timing.

There is provided a wearable robot able to maintain a balanced state during operations thereof. The wearable robot includes: a wearable robot body; a travel unit for moving the wearable robot body; and a hip joint unit provided in the wearable robot body and coupled to the travel unit, for maintaining a posture of the wearable robot body in response to a movement of the travel unit. With this construction, the wearable robot is provided with a hip joint unit having a resilient force such that a posture of a wearable robot body can be maintained during an operation of the hip joint unit, so that the robot can be operated more stably. Further, because a posture of the wearable robot can be stably maintained so that the safety of the user can be guaranteed and operation efficiency can be improved.

A sliding assembly may include a supporting frame having a proximal end and a distal end, a sliding frame partially inserted to the supporting frame, and a supporting member disposed between the supporting frame and the sliding frame to prevent the supporting frame from directly contacting the sliding frame, wherein the sliding frame is configured to move relative to the supporting frame.