A motion assistance apparatus including a fixing module to be attached to a waist of a user, a driving module provided in the fixing module to provide a torque to assist a motion of the user, a supporting module connected to the driving module to support a portion of a circumference of a leg of the user, and a controller configured to control the driving module to provide a torque to maintain a close contact between the supporting module and the leg of the user while the user is not walking.

Described herein are methods for determining a target musculoskeletal activity cycle (MSKC) to cardiac cycle (CC) timing relationship. The method may include detecting a signal responsive to a cyclically-varying arterial blood flow at a location on a head of a user; providing a recurrent prompt at a frequency of the heart pump cycle using the signal, such that the signal correlates with a magnitude of blood flow adjacent to the location, and the recurrent prompt is provided to guide the user to time performance of a component of a rhythmic musculoskeletal activity with the recurrent prompt; and guiding the user to adjust a timing of the component of the rhythmic musculoskeletal activity to substantially maximize a magnitude of the signal. In some embodiments, the method further includes generating the recurrent prompt by amplifying the sound generated by the blood flow in or in proximity to an ear of the user.

A first exoskeleton is in communication with a central server or a peripheral device. The first exoskeleton collects first data and transmits the first data to the central server or peripheral device. The central server or peripheral device generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

A motion assistance apparatus includes a waist frame configured to support a waist of a user, and a proximal support configured to support a proximal part of the user. A pressure applied to a thigh of the user by the proximal support in a sitting state in which the user is sitting may be greater than a pressure applied to the thigh of the user by the proximal support in a standing state in which the user is standing upright.

A measuring method determines the length conditions, the position and/or the radius of movement of the lower extremities of a bed-bound patient. A knee module of a rehabilitation mechanism is connected to a point of application of a leg of the patient. A measuring device records and determines a trajectory solely of the point of application during a movement of the leg by the knee module. A model generation device creates a kinematic model from the data. This allows a determination of the length conditions, the position and/or the radius of movement during an initializing movement without having to undertake any surgical intervention. This does away with the need for complex sensor technology and provides a kinematic model of the radius of movement of the patient, the parameters of which kinematic model are used for establishing new therapeutic procedures within the patient's physical therapy.

Provided is a motion assistance apparatus including a first support configured to support a first part of a user, a connection link rotatably connected to the first support, a second support configured to support a second part of a user, and a distance adjustment assembly configured to adjust a distance from the second support to the connection link.

A swinging joint device includes a driving shaft member; a first output portion that swings about a driving axis serving as an axis of the driving shaft member; an elastic body that generates an urging torque corresponding to a first swinging angle that is a swinging angle of the first output portion; an apparent rigidity variable portion that varies apparent rigidity of the elastic body seen from the first output portion; a first angle detection portion that detects the first swinging angle; and a control portion that controls the apparent rigidity variable portion according to the first swinging angle detected by the first angle detection portion to adjust the apparent rigidity of the elastic body seen from the first output portion.

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.

The present invention is intended to provide an active exercise apparatus for lower limbs that allows a user to perform on a floor lower limb active exercise highly effective in preventing thrombosis. An active exercise apparatus for lower limbs 10 includes, for example, a base body 1; a shaft 2 fixed to the base body 1 such that a central axis is vertical to the surface of the base body 1; arms 3a and 3b that are rotatably attached to the shaft 2 and are extended in two directions at an equal angle with respect to the central axis of the shaft 2; sole support plates 4a and 4b that are attached to leading ends of the arms 3a and 3b and rotatable by rotation axes x.sub.1 and x.sub.2 parallel to the surface of the base body 1 and the rotation axes z.sub.1 and z.sub.2 vertical to the surface of the base body 1; and reaction force exertion members that are installed on the back surfaces of the sole support plates 4a and 4b to exert a reaction force on backward rotation by rotation axes x.sub.1 and x.sub.2 parallel to the surface of the base body 1.

Use of an exoskeleton by a wearer of the exoskeleton is improved through several features. In a first feature, the exoskeleton enters a gait therapy preparation mode to prepare the wearer for subsequent gait therapy. In a second feature, the exoskeleton enters a balance training mode to help the wearer learn to balance while wearing the exoskeleton. In a third feature, the exoskeleton prompts the wearer to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer.