The invention relates to a curved spherical scissors linkage mechanism (1) comprising at least four linkage elements (2) each having a first end (3) and a second end (4); the linkage elements are arranged to form sides of one rhombus or parallelogram, or a series, such as a network, of joined rhombi or parallelograms. Each of the linkage elements is rotationally connected to one of the other linkage elements via a revolute joint (5) at or near the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at or near the second end. The linkage elements are shaped, dimensioned and arranged so that the axes of all the revolute joints coincide at one common remote centre of motion (RCM). Furthermore, the mechanism is grounded or connected or connectable to a first external member (7) at a proximal end and is rotationally connected or connectable to a second external member (9) at an opposite distal end. Hereby a spherical linkage mechanism with three DOFs is obtained. The spherical scissors linkage mechanism may further comprise a motion controlling mechanism at the proximal and/or at the distal end. It further comprises actuator means as control means.

A shoulder brace includes a shoulder cuff that can be worn to cover the shoulder of a user, an upper arm cuff that can be worn to cover the elbow joint of the user, a belt that can secure the shoulder cuff to the shoulder of the user, and an actuator that is the McKibben artificial muscle which can optionally expand and contract in entire length. The actuator contains a main actuator to link the vicinity of the acromion on the shoulder cuff and a side face of the upper arm cuff across the shoulder joint, an anterior auxiliary actuator to link a front face of the shoulder cuff and a front face of the upper arm cuff across the shoulder joint, and a posterior auxiliary actuator to link a back face of the shoulder cuff and a back face of the upper arm cuff across the shoulder joint.

The present invention concerns a device for controlling a robotic system for assisting the mobility of a user, said robotic system comprising at least one active mobility assistance element capable of assisting a given mobility action of the user, characterized in that the device comprises a detection system capable of detecting a compensatory movement of the user associated with the mobility action, said compensatory movement being a movement made by a user who is disabled, or able-bodied but locally and/or temporarily constrained, in order to perform at least part of the mobility action, and which at least partially substitutes the normal movement an unconstrained, able-bodied user would make in order to perform this mobility action, and a control system capable of controlling the at least one active element when the compensatory movement is detected.

The present invention provides an upper limb function assessment device and the use method thereof and an upper limb rehabilitation training system and the use method thereof, wherein the upper limb function assessment device includes a display, a depth camera and a central processor, the depth camera is used to capture a user's motion, the display is used to display motion demonstration and the user's motion, and the central processor is connected to the display and the depth camera, respectively. The present invention captures the user's motion precisely with the depth camera, which makes the obtained data more accurate and objective, and also facilitates recording and storage of the obtained data. The central processor determines whether the completion of the motion meets the requirements in assessment scales, allowing the user to come up with an assessment report on his own without requiring a lot of assistance from a physician.

An elbow joint rehabilitation system and an elbow joint rehabilitation method are provided. The elbow joint rehabilitation system includes a support member, a motor, a torque sensing unit, a first electromyography sensor, a second electromyography sensor and a motor control device. In the elbow joint rehabilitation method, the support member is configured to support an arm of a patient. Thereafter, the torque sensing unit is configured to sense the torque applied on the support member to obtain a sensed arm torque signal. Then, the first electromyography sensor and the second electromyography sensor are configured to sense the muscle activities of biceps and triceps of the patient to obtain electromyography signals. Thereafter, the motor is controlled to drive the support member to perform rehabilitation in accordance with the sensed arm torque signal, the electromyography signals and a current support member position provided by the motor.

In a state where a drive unit is located on a lateral side of a joint(s) of a wearer wearing clothes and a communication unit and a frame unit are fixed and retained corresponding to the wearer's first and second body sites, respectively, a driving torque of an actuator according to movements of the wearer's joint is transmitted as an assist force to the first and second body sites without giving any physical burdens or hindrances in daily life to the wearer.

In some implementations, an exosuit comprises a proximal portion, a distal portion, and a joint coupling the proximal and distal portion. The joint enables rotation of the distal portion about an axis with respect to the proximal portion. The exosuit includes a motor coupled to the proximal portion and a transmission configured to apply force from the motor to actuate the joint. The transmission includes multiple stages of reduction, including: a first stage comprising a belt that couples the motor to a drive pulley such that rotation of the motor rotates the drive pulley; and a second stage comprising (i) a winch having a spool configured to rotate with the drive pulley, and (ii) a cord that couples the spool to the distal portion such that rotation of the spool applies a force to actuate the joint.

A control system and method for an exoskeleton is provided. The control system utilizes the admittance control paradigm to provide a system and method for manipulating the exoskeleton using minimal force from the user. A force/torque sensor and servo motors are fitted onto a passive arm support, enabling motorized support for a user with upper extremity weaknesses. The exoskeleton may be used on any extremity. The admittance control paradigm includes an impedance control and an admittance control to allow a user with upper extremity weakness and limited independence to intuitively and with minimal force control the precise trajectory of their arms to achieve a greater degree of independence in activities of daily living. Unlike existing passive arm supports that utilize springs or rubber bands to balance the user's arm against gravity, this system provides more precise gravity compensation and minimizes the amount of force required to control the exoskeleton.

A rehabilitation device includes a first support unit adapted to support palms of a rehabilitation patient; a second support unit which is provided in one side of the first support unit and adapted to support fingers of the rehabilitation patient; a driving unit which moves the second support unit toward a direction of a back of a hand of the rehabilitation patient; and a joint unit which allows the first support unit to be tilted as the second support unit moves.

A passive energy-storage exoskeleton for assisting elbow joint is provided, which includes an upper arm unit, a lower arm unit, and an elbow joint unit located therebetween, the upper arm unit is rotatably connected with the lower arm unit. The elbow joint unit includes an anti-gravity mechanism, a coil spring mechanism, and a lower-arm-unit self-locking mechanism. The anti-gravity mechanism generates an equilibrant moment to eliminate the influence of the weight of the arm of the user and the weight of the device on the elbow joint. The lower-arm-unit self-locking mechanism is configured for locking/releasing the lower arm unit at any specified angle of rotation. The coil spring mechanism is configured for capturing and storing kinetic energy generated by rotation and swing of the arm of the user and releasing the energy as required.