Lower-limb exoskeletons used to improve free-living mobility for individuals with neuromuscular impairment must be controlled to prescribe assistance that adapts to the diverse locomotor conditions encountered during daily life, including walking at different speeds and across varied terrain. This system employs an ankle exoskeleton control strategy that instantly and appropriately adjusts assistance to the changing biomechanical demand during variable walking. Specifically, this system utilizes a proportional joint-moment control strategy that prescribes assistance as a function of the instantaneous estimate of the ankle joint moment.

A therapy device (1) for treating a body part particularly a big toe of a patient, comprises: a base body (2) with a surface (21L, 21R) for receiving a portion of the body of the patient adjacent to the body part; a moving segment (3) having a support surface (321) for receiving the body part; and a drive unit (5) for pivoting the moving segment (3) back and forth relative to the base body (2). The drive unit (5) is fixed to the moving segment (3) and pivotable back and forth relative to the base body (2) together with the moving segment (3).

A foot flexure device is provided. The foot flexure device includes a foot plate configured to be positioned under a user's foot and a support element configured to be worn on a user's upper leg. A first adjustable strap is attached to a first lateral side of the foot plate and the support element, and a second adjustable strap is attached to a second lateral side of the foot plate and the support element. A first length of the first adjustable strap and a second length of the second adjustable strap can be adjustable to provide for dorsiflexion, eversion, and/or inversion of the user's foot.

A passive exoskeleton based on energy flow characteristics of a foot-ankle complex includes a first passive exoskeleton. The first passive exoskeleton includes an energy distribution mechanism, a strike-recipient mechanism and a wearing fixing assembly. The energy distribution mechanism is connected to the strike-recipient mechanism, and the energy distribution mechanism is also connected to the wearing fixing assembly. The energy distribution mechanism includes a ratchet wheel shaft, a left torsional spring, a right torsional spring and a middle guide wheel respectively sleeved on the ratchet wheel shaft. The middle guide wheel is connected to the wearing fixing assembly through an ankle joint power-assisted cord. The ratchet wheel shaft is connected to the strike-recipient mechanism, the strike-recipient mechanism drives the ratchet wheel shaft to rotate, and the ratchet wheel shaft drives the left torsional spring, the right torsional spring and the middle guide wheel to rotate.

In one embodiment, the exoskeleton structure is fastened to the body of the user by a brace and at the foot level. The exoskeleton includes at least one set of three joints corresponding to the hip abduction/adduction, the hip flexion/extension and the knee flexion/extension, wherein the architecture of the exoskeleton is compatible with a set of different removable, adaptable and backdrivable actuation units dedicated to each joints and remotely located around the trunk of the user to decrease inertia and mass on the distal segments, wherein each joint can be modularily let free, constrained by a visco-elastic mechanism or actuated by one corresponding actuation unit.

A human-computer interface system having an exoskeleton including a plurality of structural members coupled to one another by at least one articulation configured to apply a force to a body segment of a user, the exoskeleton comprising a body-borne portion and a point-of-use portion; the body-borne portion configured to be operatively coupled to the point-of-use portion; and at least one locomotor module including at least one actuator configured to actuate the at least one articulation, the at least one actuator being in operative communication with the exoskeleton.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

Apparatus for bi-directional ankle exercise movements has a main-frame with a seat and upwardly extending columns at either side to support a “U” shaped sub-frame, mounted so that it pivots about a horizontal axis passing very nearly through the ankles of a seated user and interconnecting linkages simultaneously enforcing ankle inversion, with plantarflexion and then ankle eversion, with dorsiflexion, about perpendicularly intersecting axes, while resisting such movements, so as to provide bidirectional ankle exercises according to a progressive resistance program, thus strengthening the ankle muscle groups for enhanced balance and dynamic stability.

The present disclosure relates to the field of exercising equipment. A device (100, 200, 300, 400, 500, 600) disclosed in the present disclosure increases the reverse blood flow rate, i.e., flow rate of blood from legs towards heart. The device (100, 200 300, 400, 500, 600) includes a pedal (125, 220, 330, 420, 520, 630) configured to support a foot of a leg thereon. The device (100, 200, 300, 400, 500, 600) includes a drive mechanism (140, 250, 350, 530) to oscillate the pedal (125, 220, 330, 420, 520), thereby rocking the foot about the axis of the ankle joint to cause natural movement of the foot as during walking.

A dorsal night splint has dynamic adjustable features that allow the patient to adjust the splint while in use to control the stretching of the plantar fascia and Achilles. A semi-rigid flexible frame is included along with a tightening strap that is anchored to the frame and by which the patient can tension the strap and adjust the structure of the frame to fit the patient's desired therapeutic or prophylactic needs.