A passive range of motion device is disclosed. The passive range of motion device is configured to deliver passive rotational motion to a joint, such as a hip joint. Although the use of passive range of motion devices to deliver postoperative physical therapy to hip or shoulder joints is widespread, these devices deliver motion therapy in only one plane. The hip and shoulder joints, however, allowing motion of the leg or arm in multiple planes. A device for delivering passive range of motion therapy in multiple planes to a joint, such as a hip joint or a shoulder joint, is described. The device may have a processing unit for storing user information and device status information. The device may be controlled by a controller attached to the device, or remotely, such as by a remote desktop computer or a mobile computing 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 walking training system includes: a treadmill on which a walking trainee walks; a walking assistance apparatus that is mounted on a leg part of the walking trainee and assists walking of the walking trainee; and control means for controlling an operation of the walking assistance apparatus. The control means controls the operation of the walking assistance apparatus so as to cause the walking trainee to approach a reference position when the trainee is spaced apart from the reference position of the treadmill by a predetermined distance or more in a walking front/back direction while the walking trainee is walking on the treadmill, and increases the predetermined distance when at least one of a walking training amount of the walking trainee, a walking training level of the walking trainee set in the walking training system, and the speed of the treadmill is larger/higher/greater than a predetermined amount, level, and speed.

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 actuator system for an orthotic device includes an actuator assembly and a driven joint member. The driven joint member is connected remotely from the actuator assembly by flexible cabling to permit flexibility in positioning the driven joint member relative to the actuator assembly. The actuator system may include an actuator assembly having a motor and a first portion of a transmission assembly that provides a speed reduction of a motor speed to an output speed, and a driven joint member having an output portion of the transmission assembly and a connector component for connecting the driven joint member to a brace component of the orthotic device. The driven joint member including the output portion of the transmission assembly is connected remotely from the actuator assembly by flexible cabling that runs between the actuator assembly and the driven joint component, to permit flexibility in positioning the driven joint member relative to the actuator assembly.

An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other on or above a front part and back part of the body of a user, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other on or above the front part and back part of the body of the user, respectively, a motor, a left sensor on the left hand of the user, and a right sensor on the right hand of the user. When a left sensor value of the left sensor is larger than a right sensor value of the right sensor, the tension of the first wire and the second wire is made greater than the tension of the third wire and the fourth wire. When the right sensor value is larger than the left sensor value, the tension of the third wire and the fourth wire is made greater than the tension of the first wire and the second wire.

An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other, respectively, and a motor. When assistance is stopped, the motor is configured to reduce tension of the first wire during a first stop period starting in a boundary period in a first period and ending in a start period of a second period, generate no tension in the second wire during the second period, reduce tension of the third wire during a second stop period starting in a boundary period in a third period and ending in a start period of a fourth period, and generate no tension in the fourth wire during the fourth period.

An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other on or above a front part and back part of the body of a user, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other on or above the front part and back part of the body of the user, respectively, a motor, a left sensor on the left hand of the user, and a right sensor on the right hand of the user. When a force is applied to the left sensor and no force is applied to the right sensor, the motor makes the tension of the second wire and the third wire greater than the tension of the first wire and the fourth wire. When a force is applied to the right sensor and no force is applied to the left sensor, the motor makes the tension of the first wire and the fourth wire greater than the tension of the second wire and the third wire.

An assistance apparatus includes wires, each of which couples an upper-body belt and one of left and right knee belts to each other, and a motor. When the assistance apparatus assists a user in walking backward while carrying an object, the motor generates, in a gait phase of a left leg, a tension greater than or equal to a second threshold value in a second wire during a fifth period other than a first period during which a tension greater than or equal to a first threshold value is generated, and a tension less than the second threshold value in a first wire during a sixth period other than a second period during which a tension greater than or equal to the first threshold value is generated, and generates, in a gait phase of a right leg, a tension greater than or equal to the second threshold value in a fourth wire during a seventh period other than a third period during which a tension greater than or equal to the first threshold value is generated, and a tension less than the second threshold value in a third wire during an eighth period other than a fourth period during which a tension greater than or equal to the first threshold value is generated.

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.