A system for ankle rehabilitation includes a motorized platform arranged to hold an ankle of a subject to be rehabilitated; a first sensor module arranged to detect signals representing movement intention of the ankle on the motorized platform; a second sensor module arranged to detect signals representing actual movement of the ankle on the motorized platform; and a processor arranged to process the signals detected by the first sensor module and the signals detected by the second sensor module, for control of movement of the motorized platform.

A method for controlling an ankle-type walking assistance device may include measuring an angle of a joint of the walking assistance apparatus, calculating an angular velocity and a linear velocity of a frame of the walking assistance device using an inertial measurement unit (IMU) attached to the frame, generating a dynamics model for the walking assistance device based on the angle of the joint, the angular velocity and the linear velocity of the frame, calculating a disturbance applied to the walking assistance device based on the dynamics model, and controlling the walking assistance device based on the calculated force, equivalent, or wrench.

A sole structure for an article of footwear having an upper. The sole structure includes an outsole having a ground-engaging surface and an upper surface formed on an opposite side of the outsole than the ground-engaging surface. The sole structure also includes a midsole attached to the outsole and including an outer perimeter surface extending between the outsole and the upper. The sole structure further includes a plate disposed at least partially within the midsole and extending (i) from a forefoot region of the sole structure, (ii) through a metatarsophalangeal (MTP) point of the sole structure, and (iii) toward a heel region of the sole structure. The plate includes a first plate portion extending from the outer perimeter surface of the midsole.

A portable modular stretching apparatus has a basic structure of a base, central rod, pulley, cable system, and two legs jointed at the central rod and alongside the base. Attachments are then added for customized stretching. Attachments provide for hamstring, hips, quadriceps, knees, gastrocnemius, ankle, and metatarsal stretching, limberness, and extension, and hyperflexion. A person adds and removes the attachments based on the desired stretch routine, controls the tension, and removes the attachments, and folds the apparatus when complete.

Exemplary arrangements provide leg training devices suitable for high intensity training of hip flexors while simultaneously training the extensors of hip and knee joints. The exemplary leg training devices include foot fixings which are permanent vertically movable components of the device, each of which are configured to releasably engage a foot of a user in operative engagement therewith while limiting the movement of the foot relative to the foot fixings. Each of the foot fixings is operatively connected to a suitable mechanism that provides a resistance force to vertical movement of the foot fixing by the user's leg. In exemplary arrangements the resistance force may be selectively variable with regard to the magnitude and/or point of application so as to provide the desired training regimen.

In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

Systems and methods for closed-loop ultrasound imaging-based control are described herein. An example system includes an ultrasound transducer, and a controller operably coupled to the ultrasound transducer. The controller includes a processor and memory, the memory having computer-executable instructions stored thereon. The controller is configured to receive an ultrasound imaging signal associated with a subject's muscular activity from the ultrasound transducer; process the ultrasound imaging signal to obtain a feedback signal; and control a device interfacing with the subject based on the feedback signal.

A wearable passive exoskeleton device for sit-to-stand and/or stand-to-sit transfer includes a leg exoskeleton frame configured to be worn at a user's leg and a lever arm rotatably coupled to the leg exoskeleton frame so as to provide a handle for the user to move between a sitting position and a standing position (or between a kneeling position and a standing position). The lever arm is rotatable with respect to the leg exoskeleton frame between a stowed position and a deployed position. The lever arm may be a unidirectional lever arm configured to rotate only in a first rotational direction with respect to the leg exoskeleton frame such that a pushing or pulling force exerted in a second rotational direction transmits an assisting force to the user to assist in a sit-to-stand and/or stand-to-sit movement.

A medical apparatus has a base portion shaped and configured to engage a proximal portion of a user's limb, a mobile portion shaped and configured to engage a distal portion of the user's limb, and a motor assembly configured to selectively rotate the mobile portion relative to the base portion. Related methods are disclosed herein.

The present invention relates to a method for generating a trajectory of an exoskeleton (1) provided with two legs each having a foot, the method comprising the implementation by data-processing means (11a) of a server (10a), of steps of: (a) obtaining at least one n-tuple of gait parameters defining a given gait of the exoskeleton (1); (b) generating at least one periodic elementary trajectory of the exoskeleton (1) for said n-tuple of gait parameters, such that said periodic elementary trajectory comprises in sequence a first trajectory portion and a second trajectory portion, such that in the first trajectory portion each foot performs a pure rotation, and in the second portion only one foot performs a translation.