In some embodiments, an exoskeleton device for providing gait/movement assistance to users, and more particularly, methods and apparatuses for attaching such devices to a limb of the users, are presented. In some embodiments, the apparatus may comprise a support, a support holder, and a retaining element for retaining the support secured to the support holder at least when the apparatus is in use. In some embodiments, the attachment of the support to the support holder may be configured so as to allow the support a range of translational and/or rotational degrees of motion.

A computer implemented method of semi-supervised intent recognition for an exoskeleton system. In one aspect, the method includes, in response to a state transition intention input, changing the exoskeleton system from operating in a first mode with sensitivity to detecting state transitions at a first sensitivity level to operating in a second mode with sensitivity to detecting state transitions at a second sensitivity level that is more sensitive than the first sensitivity level; identifying a state transition while operating in the second mode and using the second sensitivity level; and facilitating the identified state transition by actuating the exoskeleton system.

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 gait motion assisting apparatus is provided, in which a thigh phase angle calculating unit has a latest data transmission process to transmit a thigh phase angle φ(k) at sampling timing S(k) (k is an integer of 1 or more) to a gait motion timing calculating unit and store the same as a reference thigh phase angle φc. Also, a stored data transmission process transmits, instead of the thigh phase angle φ(k), a currently stored reference thigh phase angle φc to the gait motion timing calculating unit and performs the stored data transmission process only when conditions are satisfied such that a thigh phase angle at one sampling timing is smaller than the currently stored reference thigh phase angle and an absolute value of a deviation therebetween is equal to or less than a predetermined threshold, and performs the latest data transmission process in other cases.

In an assistance apparatus, when assisting a user in walking with an object, a motor generates, in a gait phase of a left leg, a tension less than a second threshold value in a first wire during a fifth period other than a first period during which a tension greater than or equal to a first threshold value is generated in the first wire, and a tension greater than or equal to the second threshold value in a second wire during a sixth period other than a second period during which a tension greater than or equal to the first threshold value is generated in the second wire, and generates, in a gait phase of a right leg, a tension less than the second threshold value in a third wire during a seventh period other than a third period during which a tension greater than or equal to the first threshold value is generated in the third wire, and a tension greater than or equal to the second threshold value in a fourth wire during an eighth period other than a fourth period during which a tension greater than or equal to the first threshold value is generated in the fourth wire.

An electric stretching device includes a body part, a mounting part formed on the body part and on which an ankle of a user is configured to be mounted thereon, a driver provided inside the body part and driven so that the mounting part performs a predetermined operation, and a controller configured to control driving of the driver. The mounting part is configured to perform a reciprocating motion repeatedly in an axial direction of the body part within a predetermined range when the driver is driven.

A powered exoskeleton is disclosed. The powered exoskeleton comprises: a power system including at least one ultracapacitor, wherein the ultracapacitor includes a housing and an electrode assembly and electrolyte within the housing; and first exoskeleton member and a second exoskeleton member connected to at least one actuator at an exoskeleton joint; wherein the at least one actuator is electrically coupled to and powered by the power system to actuate the exoskeleton joint.

Various examples are provided related to gait assist. In one example, a gait assist assembly includes a foot strap that can be positioned on a foot of a lower extremity; an inferior knee strap that can be positioned below a knee of the lower extremity; a superior knee strap that can be positioned above the knee; belt straps or vest; and at least one resistance band or tube for connection to or through a combination of connectors of the foot strap, the inferior knee strap, the superior knee strap, and/or belt straps or vest. In another example, a gait assist assembly includes a foot strap; a knee brace including inferior and superior knee connections; a vest or belt straps; and at least one resistance band or tube for connection to or through a combination of connectors of the foot strap, the knee brace, and/or vest or belt straps.

In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.

The invention relates to an exoskeleton for assisting human movement, which can be fitted to the user in terms of dimensions, tension and ranges of joint motion, either manually or automatically. The exoskeleton can be fitted to the user in the anteroposterior direction in the sagittal plane, with the user in a horizontal or sitting position, without requiring a functional transfer. The exoskeleton has a modular design which is compatible with human biomechanics and reproduces a natural and physiological movement in the user, with up to 7 actuated and controlled degrees of movement per limb, ensuring that the user maintains equilibrium during locomotion.