A driving system of a hybrid gait rehabilitation robot include: a driving unit that is connected to a footrest of the gait rehabilitation robot and transmits a driving force such that the robot operates at a preset speed; a speed detection unit that detects a gait speed of an occupant; and a control unit that controls a speed of the driving unit by comparing the detected speed of the speed detection unit with a speed applied by the driving unit. The driving unit transmits power toward the occupant, but the driving force of the occupant is not transmitted to the driving unit.

A method for controlling an ankle-type walking assistance device may include measuring an angle of a joint of the walking assistance apparatus, calculating an angular velocity and a linear velocity of a frame of the walking assistance device using an inertial measurement unit (IMU) attached to the frame, generating a dynamics model for the walking assistance device based on the angle of the joint, the angular velocity and the linear velocity of the frame, calculating a disturbance applied to the walking assistance device based on the dynamics model, and controlling the walking assistance device based on the calculated force, equivalent, or wrench.

An integrated functional electrical stimulation (FES) system includes a component of a mobility assistance device, and an FES system mounted within the component. The FES system includes an FES stimulator that is embedded within the component, and a plurality of FES jacks that are electrically connected to the FES stimulator and are located on the component. The FES jacks are configured to receive a plurality of FES electrodes, and an electrical stimulation output from the FES stimulator is conducted through the FES jacks to the FES electrodes. In a wireless embodiment, the FES stimulator is configured to wirelessly transmit a control signal for applying an electrical stimulation output to the plurality of FES electrodes, and the FES jacks are eliminated. The FES stimulator may be embedded within a back portion of the hip component of an exoskeleton device, and in the wired embodiment the FES jacks are located on wing portions of the hip component.

In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

A body weight support system includes a support track, a trolley, and a power rail. The support track has a first portion and a second portion. The trolley has a support assembly and a drive assembly. The support assembly is configured to support at least a portion of a body weight of a user. The drive assembly is configured to movably suspend the trolley from the first portion of the support track when the user moves along a first surface and is configured to movably suspend the trolley from the second portion of the support track when the user moves along a second surface separate from the first surface. The power rail is coupled to the support track and is configured to be in electrical contact with a portion of the trolley as the trolley moves along the first portion and the second portion of the support track.

An integrated functional electrical stimulation (FES) system includes a component of a mobility assistance device, and an FES system mounted within the component. The FES system includes an FES stimulator that is embedded within the component, and a plurality of FES jacks that are electrically connected to the FES stimulator and are located on the component. The FES jacks are configured to receive a plurality of FES electrodes, and an electrical stimulation output from the FES stimulator is conducted through the FES jacks to the FES electrodes. In a wireless embodiment, the FES stimulator is configured to wirelessly transmit a control signal for applying an electrical stimulation output to the plurality of FES electrodes, and the FES jacks are eliminated. The FES stimulator may be embedded within a back portion of the hip component of an exoskeleton device, and in the wired embodiment the FES jacks are located on wing portions of the hip component.

The present invention provides a sensing system, a smart wearing arrangement and a method of fabricating a sensing system. In accordance with illustrative embodiments, the sensing system comprises: a flexible substrate, at least one sensor device, a chip device, and at least one electrical line, the at least one electrical line electrically connecting the chip device and the at least one sensor device. Herein, the at least one sensor device, the chip device, and the at least one electrical line are integrated into the flexible substrate.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

A massage unit includes a treatment member; an arm that supports the treatment member; a drive shaft that supports the arm and causes the treatment member to approach and be separated with respect to a treatment target site; a movable portion that causes the treatment member to be operable in a direction of being separated from the treatment target site when the treatment member comes into contact with the treatment target site by a force equal to or greater than predetermined strength; and biasing means for biasing the treatment member in an approaching direction.

Provided is a system for muscle strength support. The system includes an exoskeleton which is configured to be attached to a body of a human during use of the system, and a control unit for controlling a supportive force provided by the exoskeleton during use of the system.