An orthosis configured to stretch tissue around an ankle joint of a patient and methods for assembling and using the same are provided. The orthosis includes a first member affixable to a lower leg of the patient, a second member affixable to a foot of the patient, the second member including a second extension member having an arcuate shape configured to move along an arcuate path relative to the first member when the second member is moved from a first position to a second position relative to the first member, and a drive assembly coupled to the first member and the second member, the drive assembly configured to move the second member with respect to the first member.

An apparatus for a water resistant active exoskeleton boot includes a shin pad and one or more housings. The one or more housings enclose electronic circuitry and an electric motor that generate torque about an axis of rotation of an ankle joint of the user. A sealant is placed in contact with the one or more housings to close the one or more housings and prevent an ingress of water into the one or more housings. The apparatus includes an output shaft coupled to the electric motor and extending through a bore in a housing of the one or more housings enclosing the electric motor. The apparatus includes a seal to prevent an ingress of the water into the one or more housings. The apparatus includes a rotary encoder enclosed within the one or more housings to measure an angle of the electric motor.

An assistive ankle foot orthosis is described. The AFO has a vertical shank member arranged laterally to a user's limb. The member carries a rotational bearing and a rotational element such as a pulley. The rotational bearing is lateral to a user's ankle. The pulley is connected to a footplate. The footplate can be actuated to provide joint movement assistance or resistance to the user upon rotation of the pulley. The AFO includes an ankle angle and angular velocity sensor and a pressure sensor located under the user's forefoot. The AFO includes a controller that computes an estimate of the user's peak joint power on the basis of a series of products of measurements of foot pressure and angular velocity.

A control method and apparatus for a turning walking receives sensor information, recognizes a turning walking of a user based on the sensor information, and adjusts at least one control parameter to assist the turning walking.

A system having an arrangement for supporting an arm of a user is disclosed. The arrangement has an actuator, which is connected to a shoulder element by a joint chain. The joint chain is designed to extend along the shoulder blade of a shoulder of the user and to introduce vertically acting forces into the shoulder element. Moreover, the joint chain is guided by a flexible structure that extends over the shoulder of the user. By virtue of the deformability of the flexible structure, it is possible to ensure that a lifting of the shoulder, resulting from a lifting of a hand of the user, is not impeded.

A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

A therapeutic pressure applicator with a sensor and transceiver is worn by a patient during daily activity to apply pressure to a specific body part, and used in a system with a device such as a cell phone to receive and display real-time pressure data to alert the patient and physician when the pressure is outside a desired range. The applicator includes a securement member and a pressure adjusting device with a pressure adjusting dial, pressure sensing component, pressure focusing plate and cushion. Rotating the dial retracts or extends the sensing component, focusing plate and cushion. The applicator has a computer module with a CPU, memory, transceiver, power source and a force sensor. A pressure button is pressed into engagement with the sensor to transmit real-time focused pressure data to the CPU. The transceiver communicates the real-time cushion pressure data to the cell phone that displays and stores the data.

A brace including (i) two or more supports configured to contact body parts on opposite sides or ends of one or more joints when the brace is in use and (ii) one or more force application mechanisms that apply a controllable force to the supports in opposite directions to alleviate compression in the one or more joints is disclosed. Methods of manufacturing the brace and of alleviating compression in one or more joints using the brace are also disclosed.

A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

The present disclosure relates to a device including electrostatic brakes providing haptic kinaesthetic feedback to a user in e.g. assistive, rehabilitation or virtual reality scenarios, as well as tele-manipulation.