A walking assistance system includes a walking assistance apparatus attached to a leg of a user and a notification unit configured to notify the user of a predetermined state in the walking assistance apparatus. The walking assistance apparatus includes a flexion damper that applies a resisting force in a bending direction of a knee joint of a leg, a sensor that detects a switching timing in a gait cycle of the user, a control unit that switches the mode of the flexion damper in accordance with a switching timing, a detection unit that detects a predetermined state, and a transmission unit. The notification unit includes a vibration stimulation module that applies vibrations or electrical stimulation to a non-paralyzed area of the user's body and a reception unit.

A system for treatment of involuntary muscle contraction includes a wearable interface having an internal contact surface, the wearable interface configured to at least partially encircle a first portion of a limb of a subject, and an energy applicator carried by the wearable interface and configured to apply energy of two or more types to the limb of the subject. The system may further comprise a control unit configured to control the operation of the energy applicator.

A smart cane may include: a main body configured to have an adjustable length; an inertia sensor unit configured to generate an angle value between a ground surface and the smart cane or detect an impact on the main body; and a controller configured to adjust the length of the main body according to at least one of the angle value and a number of impacts on the main body.

An orthosis or exoskeleton system can be mounted proximate a user's joint. The system includes a brace, which includes a first body mounting portion to be mounted to one side of the user's joint and a second body mounting portion to be mounted to an opposite side of the user's joint. The first and second mounting portions are moveably coupled together. A range of motion (ROM) limitation mechanism presents a number of selectable ROM limits between the first and second body mounting portions. One or more sensors detect a user's kinematics and/or kinetics. The system is configurable during use based on the user's kinematics and/or kinetics, including by setting or updating the ROM limitation mechanism from a present ROM limit setting to a new ROM limit setting.

Systems and methods for communicating between multiple lower limb exoskeletons are provided. A first exoskeleton boot can receive, responsive to transmitting a first packet, a second packet from a second exoskeleton boot through a wireless connection between the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can determine a latency for communication between the first exoskeleton boot and the second exoskeleton boot based on a time difference between transmission of the first packet and receipt of the second packet and update, responsive to the comparison, a model indicating data weighted based on the latency for controlling the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can generate, using data from the model, a command to cause an electric motor of the first exoskeleton boot to generate torque to aid a limb of a user in performing a movement.

A gait assistance apparatus including at least one sensor configured to sense a step motion of a user, and an operator configured to determine assistance forces of a right step and a left step of the user based on step motion information of the user and adjust the assistance force for at least one of the right step or the left step of the user based on a result of proportionally adding together the assistance forces of the right step and the left step based on a variable ratio may be provided.

A gait training system has a motor connected to a first linkage system by an actuator. The first linkage system has multiple linkage members connected to multiple joints and an endpoint that is configured to produce a cyclic gait motion when the motor is activated. First and second linkage members have an adjustable length. A method of customizing a gait pattern on a gait training system is also described.

A body weight support system includes a trolley, a powered conductor operatively coupled to a power supply, and a patient attachment mechanism. The trolley can include a drive system, a control system, and a patient support system. The drive system is movably coupled to a support rail. At least a portion of the control system is physically and electrically coupled to the powered conductor. The patient support mechanism is at least temporarily coupled to the patient attachment mechanism. The control system can control at least a portion of the patient support mechanism based at least in part on a force applied to the patient attachment mechanism.

Systems and methods of processing raw electrocardiogram (ECG) waveform data of a patient into estimated real-time ECG waveform data. The method includes sensing at least one physical non-cardiac influence on the raw ECG waveform data, constructing a time domain computer model of the at least one physical, non-cardiac influence on the raw ECG waveform data, and adaptively filtering the raw ECG waveform data in the time domain using the constructed time domain computer model of the at least one physical non-cardiac influence on the raw ECG waveform data to form the estimated real-time ECG waveform data. The system can include an ECG device for collecting raw ECG waveform data, at least two ECG electrodes positioned on the patient and electrically coupled to the ECG device, and a processor coupled to the ECG device and configured to compute a time domain model of an artifact created by chest compressions.

Disclosed is a walking assistance method and apparatuses, wherein a walking assistance apparatus is configured to adaptively control at least one of a length or a stiffness based on a gait motion of a user to assist an upper body of the user.