A strength assist device includes: a multi-link part including one or more links; a profile controller that is connected to one end portion of the multi-link part, and rotates around a central rotational axis; and an elastic force providing part that is connected to the other end portion of the multi-link part, and provides an elastic force to the multi-link part. When the profile controller rotates and one end portion of the multi-link part revolves around the central rotational axis, the elastic force applied to the multi-link part varies.

A system is provided for supporting an arm of a user that includes a harness configured to be worn by the user, and an arm support coupled to the harness and including an arm rest to support an arm of the user. The arm support is configured to accommodate and follow movement of the arm without substantially interfering in such movement. The arm support may at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm. For example, the arm support may transfer at least a portion of the weight of the user's arm to the torso or other region of the user's body and/or may apply an opposing force to at least partially offset the gravitational force acting on the arm.

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 wearable device capable of outputting a torque on a user is provided. The wearable device includes a motor, a motor driver circuit, a communication circuit for receiving movement information about a first user from a server or an electronic device, a frame connected to the motor, and worn on a body part of a second user so as to support the lower body, a sensor, and a processor for controlling the motor driver circuit so that motion information about the second user is obtained using the sensor, the difference between the obtained motion information and the received motion information is calculated, torque strength is determined based on the calculated difference, and a torque of a determined torque strength is output by the motor.

Provided is an apparatus for rehabilitation. The apparatus for rehabilitation includes a body, a support that is rotatably provided on one surface of a body, a fixing part that is provided on one surface of the support to fix a user's arm, a first motor that rotates the support in a first direction by using a first axis as a rotation axis to assist abduction of the user, and a second motor that rotates the support in a second direction by using a second axis as a rotation axis to assist extention of the user.

A multimodal human-robot interaction system for compensation movement of a hemiplegic upper limb includes a compensation monitoring module, a compensation evaluation module and a compensation reducing module. The compensation reducing module includes a robot and a virtual reality system. The robot assists the hemiplegic upper limb in performing rehabilitation training, and adjusts a training action according to a compensation monitoring result and evaluation of compensation to realize passive reducing of compensation movement of the hemiplegic upper limb. The compensation monitoring module acquires data during a rehabilitation therapy. The compensation evaluation module processes and analyzes comprehensive data of the hemiplegic upper limb to obtain the evaluation of compensation. The virtual reality system displays a rehabilitation training scene, a real-time movement posture of the hemiplegic upper limb and the evaluation of compensation and instructs a patient to reduce the compensation movement using visual display and voice feedback.

An actuator-damper unit for use in orthotic or prosthetic devices. The actuator-damper unit includes a housing which may be fastened on the orthotic or prosthetic device and in which a cylinder is formed. A first piston is displaceably mounted in the cylinder and is coupled to a piston rod. The piston rod is disposed, via a first end, on the first piston and may be coupled, via a second end, to the orthotic or prosthetic device. The first piston separates two fluid chambers in the cylinder from each other and forms a piston-cylinder unit, wherein at least one further piston is coupled to the first piston in order to form at least one further, variable-volume fluid chamber.

An exosuit includes a first structure including a series of link elements joined together by joints. The series of link elements extends along a length of the first structure. The joints are configured to flex such that, when the exosuit is worn by a user, the first structure at least partially conforms to a shape of the user's anatomy at a first side of the first structure that extends along the length. The joints restrict flexing that would deform a second side of the first structure extending along the length of the first structure. The exosuit includes a second structure and an actuator coupled to the first structure and the second structure. The actuator causes movement of the first structure relative to the second structure. The exosuit includes an attachment portion to attach the exosuit to the user with the first side of the first structure facing toward the user.

In order to avoid chronic damage for people performing physical labor and to support the execution of activities, an exoskeleton is provided as a support device with a device for implementing rotational and translational human movements. The exoskeleton, which is coupled to at least one body part of a person, comprises at least one man-technology interface, a device for implementing rotational and translational human movements, and an actuating unit which, under certain circumstances, is supplemented by a sensor system and a controller.

A wearable apparatus for assisting muscular strength includes a base secured to a torso, a first rotary link coupled at a first end to the base to be rotatable about a first rotating axis and extending at a second end to a first side of the wearer to be moved forwards or backwards, a first extension link extending at a first end to the first side of the wearer and located at a second end on a wearer's flank, a first connecting part coupled at a first end to the second end of the first rotary link to be rotatable about a second rotating axis, and coupled at a second end to the first end of the first extension link to be rotatable about a third rotating axis, and a first upper-arm fixing part rotatably coupled at a first end to the second end of the first extension link.