Exoskeleton technology is described herein. Such technology includes but is not limited to exoskeletons, exoskeleton controllers, methods for controlling an exoskeleton, and combinations thereof. The exoskeleton technology may facilitate, enhance, and/or supplant the natural mobility of a user via a combination of sensor elements, processing/control elements, and actuating elements. User movement may be elicited by electrical stimulation of the user's muscles, actuation of one or more mechanical components, or a combination thereof. In some embodiments, the exoskeleton technology may adjust in response to measured inputs, such as motions or electrical signals produced by a user. In this way, the exoskeleton technology may interpret known inputs and learn new inputs, which may lead to a more seamless user experience.

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.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for creating exosuit interfaces using 3D printing. One of the methods includes receiving a three-dimensional data model of one or more areas of a person's body; determining exosuit position data that identifies a portion of the three-dimensional data model for which an exosuit model will be generated; determining an actuator housing location to integrate an actuator housing in a component of the exosuit model, the actuator housing location being determined to align a first movement path for an actuator received in the actuator housing with a second movement path for the person's body; and generating at least a portion of an exosuit model that includes the component having (i) a region shaped to correspond to a contour of the person's body and (ii) an actuator housing at the actuator housing location.

A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.

A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.

The present invention is an apparatus and method for use in a treatment for prevention of arthrofibrosis that includes a first and a second substantially L-shaped frames, each L-shaped frame having a first member and a second member extending from the first member in a substantially perpendicular direction and terminating in a first end, a fixed plate extending between the first members of the L-shaped frames, the fixed plate being parallel with the first members of the L-shaped frames, a movable plate pivotally coupled to the first ends of the first members of the L-shaped frames with, a pneumatic piston coupled to the movable plate and the fixed plate, a hand operated valve operatively coupled to the pneumatic piston and a goniometer coupled to the movable plate and one of the L-shaped frames, the goniometer adapted and configured to indicate the angle between the movable plate and the fixed plate.

A planar torsion spring has outer and inner hubs connected by a set of beams that are capable of bending to provide torsional compliance when the outer hub is rotated with respect to the inner hub. Each beam is fixed to the outer hub at one end and is attached to the inner hub at its other end by a pin and slot. Slots may be curved. The spring is capable of deflecting to ±

[00001]$\frac{\pi }{6}$

radians and providing 100 N.Math.m of torque. Bearings may be located at the interface between each pin and slot. Beams may have variable width. In a method of fabrication, the design dimensions, material, and slot geometry of the planar torsion spring can be parameterized to design springs that meet specific requirements for different applications. In addition to quantifying performance, the models provide the foundation for further weight, efficiency, and performance optimization.

A knee range of motion device utilizing tangential joint translation and distraction is disclosed. The device includes a carriage connected to a base, the carriage having a base attachment section; a thigh support section pivotally attached to the base attachment section; and a lower leg support section pivotally connected to the thigh support section. The device further including a carriage support extending between the thigh support section and the base, the carriage support pivotally connected to the thigh support section and adapted to slide in slots on the base; a first actuator connected to the lower leg support section to extend and retract the lower leg support section, thereby causing a foot support connected to the lower leg section to move; and a second actuator connected to the lower leg support section to raise and lower a calf support, causing an anterior and posterior tibial translation.

A walk training apparatus includes a walking assist device, a first tensile portion, and a second tensile portion. The walking assist device is configured to be attached to a leg of a user so as to assist the user in walking. The first tensile portion pulls at least one of the walking assist device and the leg of the user toward a vertically upper side and toward a front side. The second tensile portion pulls at least one of the walking assist device and the leg of the user toward the vertically upper side and toward a rear side.

A frequency detector includes an oscillation related information output portion to which moving body position related information and a correction parameter are input, and which outputs a frequency adjustment parameter and estimated moving body position related information; a frequency estimating portion to which the frequency adjustment parameter is input, and which outputs an estimated frequency; and an adjusting portion to which the moving body position related information, the estimated moving body position related information, and the estimated frequency are input, and which outputs the correction parameter.