An exoskeleton for a leg of a user comprises a leg structure, a foot plate moveably mounted thereto, and a biasing member extending between the leg structure and the foot plate, the foot plate is moveably mounted to the leg structure between a first position in which the rearward portion extends downwardly and the forward portion extends upwardly and a second position in which the rearward portion extends upwardly and the forward portion extends downwardly and the foot plate is biased to the first position.

A mechanical adjustable exoskeleton is disclosed for use by a biped animal with impaired bone and muscle. The exoskeleton has a metallic structure that supports extensible and reducible brackets, patellas between brackets, electric conventional motors of the linear actuator type of 10 and 30 Kg, an insole is provided in the horizontal base back support, and a lower back support. An electric system that composes of a main microprocessor that operates through a communication to all system components. Magnetic sensors of angular and external position, are placed on each patella and include a magnet, a magnetic sensor and a base for the magnet sensor, force sensors on the insoles, and an accelerometer on the back support enable electronic control in real time.

A therapeutic system may include a triangular prism-shaped body, the triangular prism-shaped body including a first rectangle plane; a second triangular plane placed at a 90° angle relative to a first side of the first plane; a third plane rectangular placed at a 30° angle relative to a second side of the first plane; a fourth triangular plane placed at a 90° angle relative to a third side of the first plan; and a fifth rectangular plane place at a 60° angle relative to a fourth side of the first plane; a heel placement depression formed in the first rectangle plane; and a foot placement identifier formed on the third rectangular plane originating at the joint of the first rectangular plane and third rectangular plane and extending into the third rectangular plane.

Examples of a device for guiding and detecting a motion of a target joints and a motion assistance system such motion guiding devices are described. The motion guiding and detecting device comprises a motion generator and a motion transfer and target interfacing unit to transfer the motion generated by the motion generator to the target joint. The system further includes a motion detection and feedback unit that interfaces with the target, and a controller that interfaces with both the feedback unit and the motion generator to control and coordinate the motion of the motion generator and the target joint.

In some embodiments, an exoskeleton device for providing gait/movement assistance to users, and more particularly, methods and apparatuses for attaching such devices to a limb of the users, are presented. In some embodiments, the apparatus may comprise a support, a support holder, and a retaining element for retaining the support secured to the support holder at least when the apparatus is in use. In some embodiments, the attachment of the support to the support holder may be configured so as to allow the support a range of translational and/or rotational degrees of motion.

A platform supports a person in a supine position. A pelvic restraint secures the person's hips to the platform. A left leg armature is rotatably connected to the platform, with an axis of rotation of the left leg armature positioned at a prescribed distance from an axis of the person's left hip joint when the hips are secured to the platform. The left leg armature lifts the left leg while pushing the left hip into the platform, and maintains extension of the left knee. A right leg armature is rotatably connected to the platform with an axis of rotation of the right leg armature positioned at a prescribed distance from an axis of the person's right hip joint when the hips are secured to the platform. The right leg armature lifts the right leg while pushing the right hip into the platform, and maintains extension of the right knee.

An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.

In some implementations, an exosuit comprises a proximal portion, a distal portion, and a joint coupling the proximal and distal portion. The joint enables rotation of the distal portion about an axis with respect to the proximal portion. The exosuit includes a motor coupled to the proximal portion and a transmission configured to apply force from the motor to actuate the joint. The transmission includes multiple stages of reduction, including: a first stage comprising a belt that couples the motor to a drive pulley such that rotation of the motor rotates the drive pulley; and a second stage comprising (i) a winch having a spool configured to rotate with the drive pulley, and (ii) a cord that couples the spool to the distal portion such that rotation of the spool applies a force to actuate the joint.

A method and device or machine for safely providing or performing the motion of circumduction as well as linear hip flexion/extension to a patient in need is provided. The device or machine (used interchangeable herein) is preferably a continuous passive movement device. The device gives full support to the operative leg and controls the true amount of hip external/internal rotation by keeping the hip in a neutral position, relative to rotation. In operation, the patient is typically in a side-lying position with the operative leg on top. In this position, the motion of circumduction as well as linear hip flexion/extension can then be performed on the patients safely and effectively. Other positions of the patient can be used and will usually be patient specific.

An electromagnetic brake assembly includes a solenoid coil; a fixed ferrous brake stator; a ferrous armature having a braking face, wherein the armature is moveable in a translation direction relative to the brake stator between a disengaged position and an engaged position; and a rotating member including a mating surface and that rotates relative to the armature when the armature is in the disengaged position. When the solenoid coil is energized, the armature translationally moves from the disengaged position to the engaged position, and in the engaged position the braking face of the armature interacts with the mating surface of the rotating member to apply a braking force to the rotating member. The braking face and the mating surface may form a conical interface, and the conical interface further may include a friction O-ring positioned within a slot that permits the O-ring to roll along the braking interface when the armature moves between the disengaged position and the engaged position.