In one aspect, an improved ankle joint device provides two stages of dorsiflexion resistance biasing a first splint member (or other attachment member that follows the angular displacement of a wearer's lower leg or foot) against dorsiflexion movement within an active angular range of dorsiflexion, corresponding to second and third rocker phases of a wearer's gait; in addition to a phase of plantarflexion resistance biasing the first splint/attachment member against plantarflexion movement within an active angular range of plantarflexion, corresponding to a first rocker phase. In another aspect, an equilibrium or neutral angle between a wearer's foot and tibia at which the device applies no biasing forces is adjustable by adjusting the angle at which a second splint/attachment member is fixed relative to a joint body. Typically, the second splint member is secured to a wearer's lower leg, and the first splint member is secured to a wearer's foot.

An orthosis device is disclosed, wherein the orthosis includes a frame comprising straps with fasteners, hinges and lateral elements connecting the straps to the hinges, each of which consists of a sleeve with an arcuate shape connected to one lateral element, and a hoop connected to the other lateral element, the hoop being placed in the sleeve with a clearance fit. The orthosis device may be provided with stops provided with grooves, and a rim provided with recesses, with a width corresponding to at least the width of the lateral elements with fit tolerance, and a protrusion situated in the central part of the stop.

In one embodiment, a torque-compensating assistive wrist brace includes a hand member adapted to be provided on a user's hand, a forearm member adapted to be provided on the user's forearm, and an assistive linkage that connects the hand and forearm members together and that applies a balancing torque to a wrist of the user that counteracts intrinsic stiffness within the wrist and assists the user in rotating the wrist in both the flexion and extension directions.

A body wearable brace, e.g. for resisting involuntary motion, adapted for allowing a user wearing the brace on his arm to dynamically move his or her upper arm, forearm, wrist and hand, comprising: an upper arm piece; a hand piece; an elbow flexion-extension joint that is rotatable relative to the upper arm piece around a first axis of rotation; a forearm pronation-supination joint that is rotatable relative to the forearm pronation-supination joint and the elbow flexion-extension joint around a second axis of rotation; an extension element extendable in a longitudinal direction; a wrist flexion-extension joint that is rotatable around a third axis of rotation. A first portion of the wrist flexion-extension joint is directly or indirectly connected to the extension element, and a second portion of the wrist flexion-extension joint is directly or indirectly connected to the hand piece.

An assistive exoskeleton glove system for a hand of an individual is described. In one example, the system includes a brace mount and a finger brace including a seat platform mechanically coupled to the brace mount. The finger brace can include a plurality of brace links, a plurality of constraint links, and an actuation lever. The system can also include an actuator mechanically coupled to the actuation lever and configured to articulate the finger brace over a predetermined range of motion. The range of motion can be tailored for different purposes. The system can also include finger abduction and adduction mechanisms, a thumb brace, a thumb flexion actuator, and a control system. The control system can be configured to detect a relative difference in feedback signals provided from target and offset encoders on the finger brace, as an input to control the actuator, and real-time grasping forces among other inputs.

Systems and methods for assistive devices for replacing or augmenting the limb of an individual, such devices comprising a joint and a powered system; the powered system having a first configuration in which the powered system rotates the joint by applying power to the joint, and a second configuration that allows for rotation of the joint without actuation of the powered system.

A power assistive device (100) for hand rehabilitation that provides training of a combined movement of finger flexion-extension and forearm supination-pronation to a user. The power assistive device (100) includes a hand brace (102) and a base (104). The hand brace (102) includes finger driving units (206) that adjustably connect to a platform (202, 204), actuators (208) that en connect to the finger driving units (206), and force sensors (232) that connect to the finger driving units (206) and the bottom of the hand brace (102) and detect force signals generated by movement of the hand brace (102). The base (104) removably connects to the hand brace (102) and includes a supporting structure (302), a forearm rotator (110) that includes C-chaped tracks (314, 316) formed along an inner circumferential surface, a rotatable platform (306) that moves along the C-chaped tracks (314, 316), a mounting platform (308) that connects to the rotatable platform (306), and an electromyography (EMG) sensor (402A-402B) that attaches to the upper arm or forearm of the user and senses EMG signals generated by the user.

A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

A motion assistance apparatus including a proximal frame configured to support a proximal part of a user, a distal frame configured to support a distal part of the user, and a force transmitting member slidably connected to the proximal frame, and rotatably connected to the distal frame is provided.

Provided are a connecting module and a motion assistance apparatus including the same, the connecting module including a case provided to incline downward from a space recessed between a waist and a hip of a user to a hip joint of the user, a power transmitting assembly disposed in an internal portion of the case, and a supporting module connecting portion disposed at an output terminal of the power transmitting assembly and to be fastened with a supporting module that supports a leg of the user.