Exoskeleton technology is described herein. Such technology includes but is not limited to exoskeletons, exoskeleton controllers, methods for controlling an exoskeleton, and combinations thereof. The exoskeleton technology may facilitate, enhance, and/or supplant the natural mobility of a user via a combination of sensor elements, processing/control elements, and actuating elements. User movement may be elicited by electrical stimulation of the user's muscles, actuation of one or more mechanical components, or a combination thereof. In some embodiments, the exoskeleton technology may adjust in response to measured inputs, such as motions or electrical signals produced by a user. In this way, the exoskeleton technology may interpret known inputs and learn new inputs, which may lead to a more seamless user experience.

A limb rehabilitation and training system includes a horizontal position adjuster movably mounted at a bottom side of a base, an expansion rotary member mounted at the horizontal position adjuster, a shoulder joint traction mechanism linked to the expansion rotary member through a first arm segment robotic arm and a height adjuster, and an upper-limb rehabilitation device linked to the shoulder joint traction mechanism. The upper-limb rehabilitation device is able to rapidly be adjusted to fit the left arm or right arm through the horizontal position adjuster, the expansion rotary member, the first arm segment robotic arm and a shoulder positioning-lifting rotary member and. Further, by means of the shoulder joint traction mechanism, the user's stiffened shoulder joint can be timely moved for a separation distance, achieving the function of loosening the joint and facilitating performance of successive rehabilitation treatment or training.

The present invention discloses a gravity balancing device for a rehabilitation robot arm, and belongs to the field of rehabilitation robots. The gravity balancing device includes a shoulder joint connecting member, an upper arm connecting member and a gravity balancing assembly; the shoulder joint connecting member and the upper arm connecting member are pivotally connected according to the human body bionic structure to simulate the rotational movement of the upper arm of the human body around the shoulder joint; the gravity balancing assembly includes a plurality of springs, wire ropes and guide pulleys, the wire ropes connect the springs to the shoulder joint connecting member and the upper arm connecting member, the spring tension is used to balance the gravity of the arm, and the guide pulleys are used to change the force directions of the wire ropes, thereby saving space and making the device structure more compact. Further, by locking different guide pulleys, the arm gravity can be still balanced by the spring tension after switching of the rehabilitation robot between the left and right hand training modes, thereby ensuring that the robot can still work normally after the training mode is switched.

An orthotic support comprises a shoulder section for encapsulating a first shoulder of a wearer, a glove section for conforming to at least a portion of the wearer's hand, and a sleeve section for conforming to the wearer's arm, the sleeve section connecting the shoulder section to the glove section. A resilient reinforcement extends from the glove section to the shoulder section, and at least a portion of the reinforcement extends in a spiral around the sleeve section, so that the reinforcement is configured to apply a rotational force to the wearer's arm, when worn, to urge a portion of the wearer's arm to rotate in a predetermined direction. The orthotic support may be usable to treat or prevent shoulder dislocation or subluxation, arm over-pronation or over-supination, wrist flexion or elbow flexion. An orthotic support may comprise a reinforcement with a first branch extending over an anterior portion of the sleeve section, and a second branch extending over a posterior portion of the sleeve section, so that the reinforcement is configured to urge the wearer's upper arm towards a rest position.

A physiotherapeutic device is disclosed. In an embodiment a physiotherapeutic device includes an arm trainer configured to rotationally move arms of a patient, the arm trainer having a first axis and a leg trainer configured to rotationally move legs of the patient, the leg trainer having a second axis, wherein the first and second axes comprise an adjustability in height, wherein a distance of the first axis to the second axis is constant, wherein the arm and leg trainers are adjustable in height so that an adjustment in height results in different exercising positions.

Proposed is a rehabilitation exercise device for upper and lower limbs. The rehabilitation exercise device is characterized by including: a base plate; a mounting plate on which a rehabilitation exercise unit is mounted, the rehabilitation exercise unit including a first support for supporting a user's hand or foot, a second support for supporting a user's forearm or calf, a third support for supporting a user's upper arm or thigh, the mounting plate having a first side that is coupled to the base plate to be horizontally movable along a plate surface thereof; and a link member having opposite sides that are rotatably coupled to the base plate and the mounting plate, respectively, and configured to adjust an angle between the base plate and the mounting plate being rotated when the first side of the mounting plate is moved horizontally along the plate surface of the base plate.

A walking assist device has a frame, a plurality of wheels, drive units, a battery, and a drive control unit that controls the drive units. The walking assist device also has: a pair of right and left movable handles that are grasped by a user and movable back and forth with respect to the frame in accordance with arm swing performed during walk of the user; handle guide units provided on the frame to guide the movable handles in a movable range that matches the arm swing performed during walk of the user; and a grasp portion state detection unit that detects the state of the movable handles. The drive control unit controls the travel speed of the walking assist device by controlling the drive units on the basis of the state of the movable handles which is detected using the grasp portion state detection unit.

The present disclosure relates to an assisted exoskeleton rehabilitation device, comprising: a back structure comprising a back crossbeam, a back supporting panel with an adjustable length, and a shoulder pneumatic muscle element mounted on the back supporting panel; an arm structure; a shoulder joint assembly, by which the arm structure is connected to an upper end of the back structure; and a waist structure. An upper end of the back supporting panel is fixedly connected to the back crossbeam, and a lower end thereof is fixedly connected to the waist structure. The shoulder joint assembly comprises a curved shoulder joint connecting panel, a shoulder traction wheel, a shoulder traction line, a first hinge mechanism and a second hinge mechanism. One end of the shoulder joint connecting panel is connected to the upper end of the arm structure by the first hinge mechanism to form a bend-stretch revolute pair of the shoulder joint, and the other end of the shoulder joint connecting panel is connected to the back crossbeam by the second hinge mechanism to form an abduction-adduction revolute pair and a medial rotation-lateral rotation revolute pair of the shoulder joint assembly, and the shoulder traction wheel is fixed to the upper end of the arm structure. The shoulder traction line is connected at one end to the shoulder traction wheel, and connected to the shoulder pneumatic muscle element at the other end.

An exercise device for stretching muscles, fascia and joints includes a rear base that transitions to a front nipple made from a solid and firm material. The device is attachable rigidly to a stationary structure such as a door jam in numerous different positions for use in a variety of exercises. The device may be attachable via a clamp unit that can be tightened laterally or other attachment means to attach to the door jam. The exercise device may be modular in form made from a plurality of pieces that are attachable to one another to form the device in a solid unitary structure.

Examples of a device for guiding and detecting a motion of a target joints and a motion assistance system such motion guiding devices are described. The motion guiding and detecting device comprises a motion generator and a motion transfer and target interfacing unit to transfer the motion generated by the motion generator to the target joint. The system further includes a motion detection and feedback unit that interfaces with the target, and a controller that interfaces with both the feedback unit and the motion generator to control and coordinate the motion of the motion generator and the target joint.