A training apparatus includes an operating rod, a strength detector, a motion position detector, a strength speed calculator, a boundary line arrival speed calculator, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The strength speed calculator calculates a strength speed. The boundary line arrival speed calculator calculates a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter. The motion speed calculator calculates a lower one of the strength speed and the boundary line arrival speed as the motion speed at which the operating rod should move.

The invention discloses a wire-driven wrist three-degree-freedom training mechanism for rehabilitation of upper limbs, and relates to the field of upper limb rehabilitating mechanical structures. The wire-driven wrist three-degree-freedom training mechanism comprises a wrist executing mechanism, a wrist linking mechanism, a forearm mechanism and an elbow linking mechanism. The wire-driven wrist three-degree-freedom training mechanism disclosed by the invention adopts a wire-driven design, through comprehensive utilization of two rotation pairs in the training mechanism, wrist three-degree-freedom passive training is realized through two driving motors; through the implementation of the wire-driven wrist three-degree-freedom training mechanism, a patient can adopt a passive training manner to perform rehabilitating training of the upper limbs; the wire-driven wrist three-degree-freedom training mechanism is provided with a position compensation mechanism, and can be adapted to individual differences of different patients, so that the training effect and user experience of the patient are improved; the mechanism is simple, the radiation and noise of the motors are low, and mental pressure of the patient can be reduced.

Proposed is a seating-type gait rehabilitation robot improved in entry characteristics, and more particularly to a seating-type gait rehabilitation robot improved in entry characteristics, of which a structure is concise and simple, and in which a footrest on which a trainee can put his/her foot has the minimum height to allow the trainee to easily enter and readily use the robot without any separate entry means for entry of the trainee and is placed at an entry side for the trainee to raise a gait training effect and reduce a collision risk.

A portable robotised apparatus with functional electrostimulation is provided having an auxiliary actuator for the limb joint to be rehabilitated; an orthosis for attaching to the patient; sensors for measuring parameters; and an autonomous power source. The portable robotized apparatus is characterised in that it also has: a 16-channel electric-pulse generator; a non-invasive multielectrode array; control electronics, to coordinate the actuator and the electric pulse generator, collect the measurement from the sensors and carry out real-time control; and a control algorithm to command, inter alia, the electric-pulse generator. The actuator operates in a coordinated manner in real time with the electric-pulse generator which is applied to the affected limb by means of the electrode array.

Provided is a massage system for a massage facility in which a robot arm is provided and a massage is performed with respect to a user by the robot arm, the system including a control unit configured to cause the robot arm to perform a massage operation in response to a program, and a setting unit configured to receive a setting operation of a setting position used for the massage operation from an operator, in which the control unit is configured to cause the robot arm to perform the massage operation with respect to a treatment position based on the setting position.

An electromechanical manipulandum device, comprising: a drive system comprising a plurality of electrical motors; an arm driveable by the drive system and having three degrees-of-freedom of motion; a capstan transmission for transmitting actuating force from the drive system to the arm; an end-effector coupled to the arm, the end-effector configured to engage a user and having at least three degrees-of-freedom of rotational motion; and a control system for controlling the drive system such as to provide a force to the end-effector in a selected direction.

A motorized robotic walker is capable of moving automatically with the user through an algorithmic process using a 3D camera image processing system. The image processing system can measure relative motion of the user versus the robotic walker and a microprocessor can generate PWM signal to drive motors of the robotic walker so that the robotic walker can follow the user's motion automatically and provide assistance if needed.

System and method for providing remotely guided physical treatment are disclosed. A computing device is communicably coupled to a therapeutic robot and a remote guidance device. The computing device receives full-body images of a treatment subject. The computing device generates a plurality of key physical points for the treatment subject by identifying a three-dimensional human body template that corresponds to the shape and posture parameters of the treatment subject and fitting the identified first three-dimensional human body template to the full-body images of the treatment subject. The fitting causes adjustments to locations of the corresponding set of key physical points of the first three-dimensional human body template. The adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template are provided to the guidance device as basis for a treatment procedure that is specified by the treatment guidance provider during the physical treatment session.

A layer jamming driving device is proposed, which includes an enclosure made of a variable material; and layer stacked structures having a plurality of layers stacked inside the enclosure, wherein the layer stacked structures can be coupled so as to be slidable and rotatable with respect to each other.

Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer.