An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and exoskeleton leg structures, each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee, and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and the human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking.

In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

A system, according to various embodiments, includes eyewear (or any other suitable wearable device) that includes one or more sensors (e.g., one or more accelerometers, magnetometers, position sensors, gyroscopes, and/or other suitable sensors) that may be used to monitor the gait of an individual (e.g., by monitoring the movement of the user's head, or other portions of the user's body, as the user ambulates). The system may further include one or more suitable computing devices for analyzing the individual's gait. This information may then be used, for example, to: (1) identify one or more medical conditions associated with the individual; (2) assess the fit of a prosthetic device worn by the individual, and/or (3) assess an individual's recovery from a particular injury or medical procedure.

A testing apparatus and testing method capable of efficiently evaluating the strength and durability of a lower-limb-type wearable motion assistance device without being affected by the gravity are implemented. Regarding the testing apparatus for evaluating the strength and durability by repeatedly applying an impact force to the lower-limb-type wearable motion assistance device, when a piston rod is excited at predetermined stroke length and operating speed in a state where a dummy doll wears the wearable motion assistance device, a reciprocable area of a stage relative to an impinging surface of a base is adjusted to make a measured value of a load cell exceed a predetermined reference value.

A computer-implemented method of detecting physiological attributes of a wearer of a computerized wearable device having one or more sensors comprises (1) using the information from the one or more sensors to assess the physiology of the wearer; and (2) notifying the wearer of the wearer's physiology. In various embodiments, the method involves using the wearable device to determine the wearer's current posture, balance, alertness, and/or physical state and comparing the current posture, balance, alertness and/or physical state to at least one baseline measurement. For example, the system may measure a baseline posture to determine when the wearer's current posture deviates from the baseline posture, and notify the wearer so that the wearer may improve his or her posture. In other embodiments, the computerized wearable device may detect one or more of the wearer's physiological characteristics (e.g., oxygen levels, pulse rate, pupil size, etc.) and determine the wearer's alertness level.

In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

Systems and method for monitoring gait dynamics are disclosed. The performance of an orthotic or prosthetic device or other device associated with a limb may be measured based on the resistance of a bending sensor. Data from the sensors is gathered or processed, particularly for purposes of alignment, safety, failure, usage, selection, and artificial proprioception. Information relating to the device may be outputted visually or auditorily to an individual.

A computer-implemented method of detecting physiological attributes of a wearer of a computerized wearable device having one or more sensors comprises (1) using the information from the one or more sensors to assess the physiology of the wearer; and (2) notifying the wearer of the wearer's physiology. In various embodiments, the method involves using the wearable device to determine the wearer's current posture, balance, alertness, and/or physical state and comparing the current posture, balance, alertness and/or physical state to at least one baseline measurement. For example, the system may measure a baseline posture to determine when the wearer's current posture deviates from the baseline posture, and notify the wearer so that the wearer may improve his or her posture. In other embodiments, the computerized wearable device may detect one or more of the wearer's physiological characteristics (e.g., oxygen levels, pulse rate, pupil size, etc.) and determine the wearer's alertness level.

A wearable device includes at least one sensor for obtaining a unique identifier from the wearer when the wearer and for transmitting the unique identifier to one or more computer processors for use in determining whether the wearer is a particular individual. The wearable device may also include a wireless communications device for transmitting a signal (e.g., to a remote computing device) that confirms the identity of the wearer as the particular individual. A remote computing device, or other device, or individual, may then, based at least in part on receiving the signal, grant wearer access to a computer program, computing system, and/or a particular physical space.

A prosthetic device includes a phalanges portion, a metatarsals portion that is movably coupled to the phalanges portion, an ankle portion that is movably coupled to the metatarsals portion, and a calcaneus portion that is movably coupled to the ankle portion.