An upper limb exercise apparatus comprises a base, a frame, and a display mounted on the frame. The apparatus further comprises 5-bar linkage-type movable parts positioned on the display and including a first link and a second link. The first link comprises a 1-1 member having one end attached to the frame and being rotationally driven, and a 1-2 member having one end rotatably attached to the other end of the 1-1 member, the other end having attached thereto a handle for gripping. The second link comprises a 2-1 member having one end attached to the frame and being rotationally driven, and a 2-2 member having one end rotatably attached to the other end of the 2-1 member, the other end having attached thereto the handle and the other end of the 1-2 member. Series elastic actuators attached to the 1-1 member and the 2-1 member provide torque.

An exoskeleton robotic equipment for tenodesis grasp and release training includes an exoskeleton mechanism and a control device. The exoskeleton mechanism includes a fixing seat worn on a forearm, an actuating device mounted to the fixing seat, and a transmission module connected to the fixing seat and pivotally connected to the actuating device and cooperating with the fixing seat and the actuating device to form a four-bar linkage mechanism. The actuating device is controlled by the control device to drive the transmission module to move relative to the fixing seat to change the transmission module into a release state and into a grasp state so as to move the index finger and the middle finger away from and toward the thumb.

An apparatus may include a wearable component having an interior surface and an exterior surface, with a slip-resistant material adhered to the interior surface, the wearable component separably attached to a connecting portion having a receiving element, and the receiving element separably attached to an attachment element removably affixed to an external support structure. A method of stabilization may include obtaining the apparatus, applying the wearable component to a portion of a body, attaching the attachment element to the external support structure, and separably attaching the connecting portion to the attachment element.

A textile actuator and harness system can include a harness configured to be worn with a portion extending across a wearer's joint. The harness comprises a substantially inextensible section and at least two mounting locations spaced for positioning across the joint, with at least one located along the substantially inextensible section of the harness. A textile envelope defines a chamber and is made fluid-impermeable by (a) a fluid-impermeable bladder contained in the textile envelope and/or (b) a fluid-impermeable structure incorporated into the textile envelope. The textile envelope is secured to the harness at each mounting location, and the textile envelope has a pre-determined geometry configured to produce assistance to the joint due to inflation of the textile envelope during a relative increase in pressure inside the chamber.

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.

A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.

A dry eye treatment device, comprising a roller, a holder, wherein the roller contacts and rolls over an eyelid in a plurality of directions in a treatment; a heating element to generate heat, wherein at least a portion of the heat is transferred to the roller; a temperature monitoring system, which comprises a thermal sensor and a temperature control circuit; and an electric power source. The roller is of a convex cylindrical or concave cylindrical shape. A method for dry eye treatment, comprising: cleaning an eyelid with a first cleansing wipe; heating a roller to a predetermined temperature; applying thermally conductive gel between the roller and the eyelid; rolling the roller over the eyelid in a plurality of directions; and removing the thermally conductive gel and expressed debris with a second cleansing wipe; and further, increasing the temperature by an increment and repeating the treatment method.

A device for upper-limb rehabilitation, which assists a user in exercising the arm for rehabilitation, has a connector, a placing unit movably connected to the connector, and a driving unit configured to move the connector, wherein when a user places the arm on the placing unit and moves the placing unit, the driving unit is operated to move the connector along the placing unit, so as to enlarge a work space in which the user is capable of moving the arm.

A robotic massage machine that includes at least one movable robotic arm having a first end effector, a processor that controls the movable robotic arm, a memory, a first body form having at least a first anatomical calibration point, a preprogrammed initial massage path based on the first body form, and a second body form having at least a first anatomical calibration point located in an analogous anatomical location as the first anatomical calibration point of the first body form. The processor is programmed to morph the initial massage path to calculate a calibrated massage path based on the second body form.