A wearable apparatus for increasing muscular force includes: a mount body coupled to an upper body of a wearer; a shoulder frame coupled at one end thereof to the mount body at the dorsal surface of the wearer and which is rotatable in up and down direction; a mounting frame coupled at one end thereof to the other end of the shoulder frame to be torsionally rotated; a supporter, which surrounds part of an upper arm of the wearer to support the upper arm of the wearer; and a compensation frame, which is integrally coupled to the supporter to be rotated together with the supporter about a shoulder joint of the wearer. The compensation frame capable of generating supporting force that varies depending on the angle to which the compensation frame is rotated.

An elongated actuator including: an elongated inner tube for carrying a pressurized actuation fluid; a helical coil wrapped around the elongated inner tube; wherein the actuator undergoes actuation by means of pressure fluctuations in the elongated inner tube.

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.

Disclosed is a robotic orthosis for a lower extremity for gait rehabilitation training, comprising a knee stretching member which is provided to be installable on the knee so as to enable the knee joint to be stretched in a swing phase and enable a state in which the knee is stretched to be maintained in a stance phase. The knee stretching member comprises: a knee sleeve surrounding the knee joint; and a knee supporting chamber which is mounted so as to be connected to the knee sleeve, and which, when air is introduced therein and is inflated in the swing phase, enables the knee to be stretched by supporting the knee joint, and enables the state in which the knee is stretched to be maintained in the stance phase.

The disclosure relates to a lower limb structure, comprising: a hip joint assembly comprising a hip joint support, a hip joint driver fixed to the hip joint support, and a hip joint transmission handle driven by the hip joint driver; a thigh rod connected to the hip joint transmission handle and driven by the hip joint driver; a knee joint assembly comprising a knee joint fixing base, a knee joint driver fixed on the knee joint fixing base, and a knee joint transmission handle driven by the knee joint driver, wherein the knee joint fixing base comprises a sleeve and a connector which is connected to the knee joint driver, and the sleeve is slidably fixed on the thigh rod along an extension direction of the thigh rod; and a lower leg rod connected to the knee joint transmission handle and driven by the knee joint driver, wherein the thigh rod does not coincide with a line connecting centers of the hip joint driver and the knee joint driver, such that a movement range of the knee joint on the thigh rod regulator is larger. The disclosure also relates to an exoskeleton robot having the lower limb structure.

A robot system for active and passive upper limb rehabilitation training based on a force feedback technology includes a robot body and an active and passive training host computer system. Active and passive rehabilitation training may be performed at degrees of freedom such as adduction/abduction and flexion/extension of left and right shoulder joints, and flexion/extension of left and right elbow joints according to a condition of a patient. In a passive rehabilitation training mode, the robot body drives the upper limb of the patient to move according to a track specified by the host computer, to gradually restore a basic motion function of the upper limb. In an active rehabilitation training mode, the patient holds the tail ends of the robot body with both hands to interact with a rehabilitation training scene, and can feel real and accurate force feedback.

Disclosed is a hand and arm support assembly for use by a user or patient to rehabilitate a hand of the patient. The hand and arm support assembly includes a hand actuator assembly and a forearm rest assembly. The hand actuator assembly provides a support for a hand engagement assembly having a housing and hand actuator rod engagement members projecting upwards therefrom to engage the hand of the patient. The housing is rotatable to accommodate the position of the patient's hand and the rod engagement members are adapted to travel along slots towards and away from one another. The forearm rest assembly includes a first carriage and a second carriage to support the forearm and elbow of the patient. The first and second carriage can pivot about an axis relative to the housing to further accommodate the position of the patient's arm and elbow.

An upper limb rehabilitation training system integrating multi-source stimulation is provided and includes an upper limb rehabilitation body provided with first through fourth rigid rings, the first through fourth rigid rings are fixed with first rope knots, second rope knots, third rope knots and fourth rope knots respectively. The upper limb rehabilitation training system integrating multi-source stimulation simulates working principles of muscle more authentically by using linear drive method, and complies with laws of human kinematics. The linear drive method reduces many complex mechanical structures, and makes process of force transmission very easy. The upper limb rehabilitation training system integrating multi-source stimulation reduces weight of a rehabilitative robot, improves wearing comfort, and provides a basic guarantee for patients to devote themselves to rehabilitation training.

A robotic assistant includes a wheeled base, a body positioned on the base, a foldable seat rotatably connected to the body, an actuator to rotate the foldable seat with respect to the body, and a control system that receives command instructions. The actuator is electrically coupled to the control system. In response to the command instructions, the control system is to control the actuator to rotate the foldable seat to a folded position or an unfolded position. The control system is further to detect whether an external force from a user has applied to the foldable seat, and release the actuator to allow the foldable seat to be manually rotated.

Upper arms are fixed to drive shafts of a pair of drive sources at or near respective left and right hip joints. The upper arms are coupled to an upper body trunk harness by first passive rotary shafts via third passive rotary shafts, and are mounted to a lower body trunk harness by a mounting device. Lower arms are fixed to drive source bodies, and are coupled to thigh harnesses by second passive rotary shafts via fourth passive rotary shafts. The first and second passive rotary shafts and third and fourth passive rotary shafts are angularly displaceable about axial lines in a lateral direction of the wearer and axial lines in an anteroposterior direction of the wearer, respectively. An acceleration/angular speed sensor fixed to the lower body trunk harness detects an acceleration of the body trunk in a vertical direction by landing of a foot.