An actuator-damper unit for use in orthotic or prosthetic devices. The actuator-damper unit includes a housing which may be fastened on the orthotic or prosthetic device and in which a cylinder is formed. A first piston is displaceably mounted in the cylinder and is coupled to a piston rod. The piston rod is disposed, via a first end, on the first piston and may be coupled, via a second end, to the orthotic or prosthetic device. The first piston separates two fluid chambers in the cylinder from each other and forms a piston-cylinder unit, wherein at least one further piston is coupled to the first piston in order to form at least one further, variable-volume fluid chamber.

Exercise robot suitable for rehabilitation and methods of its operation are provided. In particular a method in which the exercise robot learns an exercise movement on the basis of movements conducted by the aid of a human assistant holding the leg of a patient and moving the leg with muscular form to conduct an exercise movement. The rehabilitation robot actively accompanies the exercise movement in an active compliance mode and records the movement so as to determine an exercise movement stored in the control unit of the device. The rehabilitation robot can then produce the determined exercise in an exercise mode.

A bending and stretching motion assist device includes: left and right thigh links; left and right lower leg links swingably coupled to lower ends of the thigh links; a torso mount member having an annular shape and supporting upper ends of the left and right thigh links swingably on respective sides of left and right hip joints; left and right lower leg mount members respectively attached to lower ends of the left and right lower leg links; an assist force generation device configured to generate assist force in a stretching direction between the lower leg links and the thigh links to assist bending and stretching motion of lower limbs; and a buttocks support member extending between parts of the torso mount member adjacent to connecting parts that connect the torso mount member to the left and right thigh links, respectively, and including a buttocks pad.

There is proposed an apparatus for joint exercise and rehabilitation. The apparatus including a housing which supports a plurality of spaced apart motion devices that enable a user to position a limb thereon or onto a platform supported thereon, such that the limb is movable along a generally arcuate path to undertake a joint exercise and/or rehabilitation activity of the limb or joint.

A walker for use by a mobility impaired disabled user. The walker supports the user while moving them through a set of movements correlating to a walking motion. The walker includes an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control system

The exoskeleton includes a rigid pelvic support member including a pelvic harness and a pair of leg structures. Each of the leg structures comprise an upper leg structural member, a lower leg structural member, a foot member, a main hip actuator, a knee actuator and a main foot actuator.

A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.

A walker for use by a mobility impaired disabled user. The walker supports the user while moving them through a set of movements correlating to a walking motion. The walker includes an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control system

The exoskeleton includes a rigid pelvic support member including a pelvic harness and a pair of leg structures Each of the leg structures comprise an upper leg structural member, a lower leg structural member, a foot member, a main hip actuator, a knee actuator and a main foot actuator.

A lower limb training rehabilitation apparatus, comprising a weight reducing device, a pelvis supporting device, an exoskeleton device, a control system for controlling mechanical movements of the rehabilitation apparatus, and a treadmill used for walking of a patient. The rehabilitation apparatus hoists the upper body of the patient by means of the weight reducing device, then fixes the crotch of the patient to the pelvis supporting device, and fixes two legs of the patient to two mechanical legs of the exoskeleton device. A power source drives the pelvis supporting device to move up and down, so that the patient can move in the vertical direction; in addition, a sliding base of the pelvis supporting device can assist the patient in moving left and right, swinging left and right, and twisting. The mechanical legs and the treadmill together implement arbitrary movements in six degrees of freedom of the patient.

Described herein are systems and methods of guiding a user to achieve musculoskeletal counterpulsation. A method may include receiving a cardiovascular cycle signal from a first sensor; determining a heart rate of the user based on the cardiovascular cycle signal; receiving a rhythmic musculoskeletal activity timing signal from a second sensor; determining an actual musculoskeletal activity cycle (MSKC) to cardiovascular cycle (CC) timing relationship; comparing the actual MSKC to CC timing relationship to a target MSKC to CC timing relationship; providing a recurrent prompt to the user as a timing indication for performance of a rhythmic musculoskeletal activity to guide the user to achieve a musculoskeletal activity cycle rate (MSKR) that approaches the target MSKC to CC timing relationship; and altering a feature of the recurrent prompt based on a determined alignment between the actual MSKC to CC timing relationship and the target MSKC to CC timing relationship.

A balance training method using a wearable device, and the wearable device are disclosed. The balance training method using the wearable device configured to provide a walking assist function includes executing a balance training mode of the wearable device and supplying an irregular pattern torque to an actuator of the wearable device at a time point or in a time period in the balance training mode.