A robotic exoskeleton comprising a back portion providing at least two degrees of freedom, two shoulder portions, each shoulder portion providing at least five degrees of freedom, two elbow portions, each elbow portion providing at least one degree of freedom, and two forearm portions, each forearm portion providing at least one degree of freedom. Associated robotic forearm joints and robotic shoulder joints are also addressed.

Method when a user performs a work task, wherein the user wears and uses a wearable, actively controlled piece of force-assisting equipment (110) used to assist the user in the performing of the said work task, which force-assisting equipment (110) comprises a force-exerting means (112,113) for assisting the user in applying a particular force and/or for performing movements of a particular type, and a sensor means (115) for sensing a force applied by the user, wherein an assisting force exerted by said force-exerting means (112,113) is feedback-controlled based on an instantaneous measurement value from the sensor means (115). The invention is characterised in that the method comprises the steps of during the performance of said work task, measuring said measurement value using the sensor means (115) for use in said feedback control; and using the measurement value to automatically calculate an actual ergonomic risk or load value for the performed work task using the said force-assisting equipment (110). The invention also relates to a system and a computer software product.

A wearable exoskeleton with full or partial body physical feedback system in virtual and augmented reality applications, or in physical fitness applications, including, in aspects, finger, hand, wrist, elbow, shoulder, back, hip, knee, ankle, and foot components, or combinations thereof. The system implements physical feedback, using resistive or restrictive forces, for both the upper and lower portions of the human body. Additionally, the wearable exoskeleton and system are capable of being configured for particular applications including but not limited to virtual and augmented reality, as well as physical fitness and physical therapy applications.

Disclosed are a joint manipulation device and system for increasing the range of motion of a joint of a user, and monitoring the compliance of the user's operation of the joint manipulation device to standards or guidelines set by a monitoring entity. Certain sensors associated with the joint manipulation device may cause an indicator to transmit an alert to the user based on whether or not the device is sufficiently engaged with a limb or joint of the user to be considered in compliance. Additionally, progress data associated with the range of motion of the user's joint may be obtained by a sensor assembly and transmitted to one or more systems associated with the device system. Progress data obtained during a period of non-compliant use of the device may be excluded from the transmitted data, thereby generating a set of compliant progress data for accurate analysis of device effectiveness.

A gravity compensator applied to a wearable muscular strength assisting apparatus includes a first link configured to extend parallel to a first body portion of a wearer, a second link configured to extend parallel to a second body portion and which is rotatably coupled to an end of the first link, an elastic body, which is fixed at an end thereof to the first link so as to exert an elastic force, which varies according to a length between the two ends thereof, and a connection unit, which is connected an end thereof to the other end of the elastic body and extends in a longitudinal direction of the first link and which is connected at an end thereof to the second link so as to vary a length of the elastic body by relative rotation between the first link and the second link.

A wearable muscular strength assisting apparatus includes a base configured to be positioned on a wearer and extending vertically, a link unit, which is configured to be positioned so as to be laterally spaced apart from the base and is configured to be connected to the wearer's upper arm, front arm or hand, a first connector, which is rotatably coupled at one end thereof to the base and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base, and a second connector, which is rotatably coupled at one end thereof to the base, and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base.

The plantar flexure muscles assist device includes at least one drive mechanism (10) having a linear drive actuator (26); a latch mechanism (25) having a toothed annular surface coupled to the linear drive; a retractable rotating element having a toothed drum (24) and an elastic spiral element (23). The toothed drum has an annular groove and where the toothed drum corresponds to the toothed lock mechanism; a rope (28) wound in the annular groove of the toothed drum with one end attached to the elastic element (2); and a casing (21, 27) for containing the elements of the drive mechanism; a control system to send a signal to the linear actuator to activate or deactivate the locking mechanism, and a battery to supply power to the control system. The lightweight activation mechanism, together with the lightweight structure, allows the elastic element to store mechanical energy while the dorsiflexion movement occurs. This energy will enhance the plantar flexion movement, to increase physical performance on long and demanding walks and decrease user fatigue.

An interface system in an exoskeleton includes a base support, a strap assembly, and posterior strut. The posterior strut has a vertical member defining a lower end connecting to the base support, and an upper end connecting to first and second transverse members extending in opposed directions from the vertical member. The first and second transverse members connect to the strap assembly. The interface system is adapted to receive and support an assistive device adapted to augment a user's performance and mitigate repetitive strain injuries.

A kinematical chain (100) for assisting a spherical motion of an anatomical joint (200) of a finger of the hand (210) of a user, said anatomical joint (200) having centre of rotation P and being arranged for allowing a relative motion of a finger of the hand (210) with respect to a portion of hand (220) of the user, said finger of the hand (210) defining a longitudinal direction δ. The kinematical chain (100) comprises a first rotational joint (110) engaged to the finger of the hand (210) and to a first connection link (115), said first rotational joint (110) arranged to provide a relative rotation α between the first connection link (115) and the finger of the hand (210) about a rotation axis x coincident with the longitudinal direction δ. The kinematical chain (100) also comprises a third rotational joint (130) engaged to the portion of hand (220) and to a second connection link (125), said third rotational joint (130) arranged to provide a relative rotation γ between the second connection link (125) and the portion of hand (220) about a rotation axis z integral to the portion of hand (220). The kinematical chain (100) comprises then a second rotational joint (120) engaged to the first connection link (115) and to the second connection link (125), said second rotational joint (120) arranged to provide a relative rotation β between the first connection link (115) and the second connection link (125) about a rotation axis y. The rotation axes x, y and z intersect in a centre of rotation O, in such a way that the kinematical chain (100) allows a spherical motion of the longitudinal direction δ with respect to the portion of hand (220) about the centre of rotation P.

A system and method is provided for a wearable robotic upper body garment. In an embodiment, an upper body garment or apparatus comprises a shoulder saddle, one or more actuators, one or more flexible tendons, back torso section, front, torso section, torso wrap, and upper arm cuff. The shoulder saddle may be comprised of a yoke and one or more elevated shoulder sections. The one or more elevated should sections may be comprised of a first elevated shoulder section. In an embodiment, the back torso and front torso sections may be structurally connected to the yoke. In an embodiment, the one or more actuators may be structurally connected to either said back torso section or front torso section. In an embodiment, the one or more flexible tendons may be operationally connected to a predetermined one or more actuators and an upper arm cuff. In an embodiment and during operations, the one or more actuators effectuate a pulling motion on one or more flexible tendons enabling or augmenting movement about an upper extremity joint.