An exoskeleton for humans including a joint element that interacts directly or indirectly with a human's joint via an end-effector mount, wherein the end-effector mount is arranged to perform an arbitrary planar parallel movement in a plane, allowing superimposed translational and rotational movements of the end-effector mount relative to a body of the joint element. The exoskeleton allows for excellent adjustment of the joint axes, i.e. the exoskelleton's and the human's joint, for effecting simultaneous translational and rotational movements. Particularly, the exoskeleton is self-aligning to the movements of a human's joint independent from differences in the attachment of the exoskeleton to the body and anatomical differences of the patients.

The invention relates a device for supporting two arms 4 of a user 2 wherein the device has two arm support elements 6, each of which has an arm shell 10 for placing on an arm 4, at least one passive actuator 26, which is configured to apply a force to at least one of the arm support elements 6, and at least one counter bearing 14 for the force to be applied, which comprises at least one counter bearing element 16 and at least two force transmission elements 18, which are configured to transfer a counter force from each of the arm support elements to the counter bearing element 16,
wherein the force transmission elements 18 are arranged on the counter bearing element 16 such that they can be moved relative to the counter bearing element 16, in particular they can be rotated about at least one rotational axis.

A system for interacting with a remote object comprising a wearable jacket for a user, two actuators for supporting arms of the user, motors for causing movements to at least one of a torso and the arms of the user, and sensors for measuring at least one of a force applied to the user and a position of the user, and a controller and data transmission device for communicating with the remote object.

A motorized rehabilitation device includes a mobile base bound by a lower surface and an upper surface. A first motorized wheel assembly is supported on the upper surface of the mobile base. The mobile base also includes a second motorized wheel assembly at least partially extending below the lower surface of the base. A dome is bound by an exterior convex surface and an interior concave surface. The dome is biased for friction contact of the interior concave surface with the first motorized wheel assembly. An end-effector is positioned above the exterior concave surface. The end-effector is configured to engage an animal body part.

The invention concerns an exoskeleton structure (1) comprising:a back assembly (2) intended to be attached on the back of a user,an arm assembly (3) intended to be attached to an arm of the user,a shoulder connection device (4) connecting the back assembly (2) to the arm assembly (3), the shoulder connection device (4) comprising a first pivot (10), a second pivot (12) and a third pivot (14), allowing a rotation of the arm assembly (3) with respect to the back assembly (2) about a first axis of rotation (X1), a second axis of rotation (X2) and a third axis of rotation (X3), wherein the second pivot (12) is designed such that the second axis of rotation (X2) forms a non-zero angle with an abduction/adduction axis of the shoulder of the user and a non-zero angle with a flexion/extension axis of the shoulder of the user when the user is standing with arms relaxed along the body.

The described knee rehabilitation device can include any suitable component. In some implementations, however, it includes a sitting surface that is configured to support a user; a knee arm that comprises a leg coupling mechanism, that is pivotally coupled to the rehabilitation device, and that is configured to pivot through a range of motion; and a drive mechanism that is configured to force the knee arm through the range of motion. In some cases, the drive mechanism includes a first hard stop that prevents the knee arm from extending past a first set point, and the drive mechanism further includes a second hard stop that prevents the knee arm from being retracted past a second set point. In some cases, the device is further configured to be programmed to electronically limit the knee arm's range of motion. Other implementations are discussed.

A therapy device may include a hand grip and a shoulder support. The shoulder support is configured to abut a shoulder of the user while a hand of a user grips the hand grip. A length of the therapy device may then be adjusted to provide a stretch of the muscles of the user to provide relief from a number of ailments including back pain (both mid and upper back pain) and shoulder pain.

Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points A.sub.l and B.sub.1 located at a distance A.sub.1B.sub.1, said second element comprising two pivot points A.sub.2 and B.sub.2 located at a distance A.sub.2B.sub.2. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point A.sub.l and a first end link pivotally connected to the first external link at a pivot point D.sub.1, said pivot point D.sub.1 being located at a distance A.sub.1D.sub.1 by the pivot point A.sub.1. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A.sub.2, and a second end link pivotally connected to the second external link at a pivot point D.sub.2, said pivot point D.sub.2 being located at a distance A.sub.2D.sub.2 by the pivot point A.sub.2. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point B.sub.1 and integrally connected to the second end link at a junction point C.sub.2, a second intermediate link pivotally connected to the second element at the pivot point B.sub.2 and integrally connected to the first end link at a junction point C.sub.1. The first and the second end link are pivotally connected to each other at a pivot point M. Defining ==, for any value of , the projections of the pivot points A.sub.1, B.sub.1, A.sub.2, B.sub.2 in a plane , lay in a circumference K having center O and radius r=A.sub.1D.sub.1=A.sub.2D.sub.2=D.sub.1B.sub.2=MB.sub.2=D.sub.2B.sub.1=MB.sub.1, in such a way that decreasing the value of the first and the second element rotate with respect to each other about an axis z orthogonal to the plane and passing through the center O in the direction for which the point A.sub.1 is overlapped to the point B.sub.2.

Implementations described and claimed herein involve a shoulder exoskeleton having a spherical parallel manipulator with a plurality of parallel linear actuators connected to a base coupled to a user's arm. A passive slip mechanism is operatively coupled to the spherical parallel manipulator as well as being coupled to the user's arm. The slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference.

A programmable range of motion system has a frame, a range of motion device, a controller, a computer and sensors. The frame has a seat to support a rehab patient. The range of motion device is attached to the frame. The actuator, servo or alternate mechanism selectively rotates the range of motion device through a range of motion for a rehab patient's limb. The controller controls the actuator, servo or alternate mechanism. The computer is connected electronically to the controller. The computer has a software, program or application including a plurality of programmable range of motion movements for exercising the limb. The sensor detects movements of the actuator, servo or alternate mechanism and records data back to the computer. The term actuator as used hereafter includes servo or alternate articulating mechanism.