The invention relates to the improvement of exoskeletons and masters thereof and to their use in teleoperative applications in virtual worlds or the real world. Non-actuated exoskeletons can be used to transfer loads from the user, for example, heavy luggage, tools or also the body weight of the user, to the ground and to relieve the joint and muscle system of the user. This can increase the endurance and also effective strength of the user. Motor-driven, actuated exoskeletons can be used in different fields. They can be worn as a freely moveable robotic suit which comprises a built-in energy supply and electronic control. They can also be used to improve the force and endurance of a user whilst the user moves in an unlimited environment. Another use of the fixed exoskeleton is in the field of interaction with virtual worlds or for controlling real robots. In this instance, an exoskeleton can be used to establish a teleoperative connection between the user and the master (virtual avatar or real robot). The user users the exoskeleton to directly transfer control commands to the master. The elements of the user and the master then practically carry out the same movements synchronously. The aim of the invention is to improve exoskeletons and masters of the mentioned type and the associated control units. This can, in particular, be achieved by a favorable realization of rotational axes which define rotational movements of different elements which to a large extent perform a hip movement.

Improved customizable orthotic/prosthetic braces and a lightweight modular exoskeleton may aid individuals with lower limb motor impairment, including children. These customizable orthotic/prosthetic braces improve the strength and rigidity of such braces without a weight penalty. A structural frame is embedded between an inner shell and outer shell, which comprise materials that are easily moldable to conform to a user's limb. The lightweight modular exoskeleton system provides six (6) joint actuators, which are designed to be modular, that act as the active joints (e.g. hips, knees, and ankles) of the exoskeleton. Additionally, the exoskeleton may also provide four (4) passive joints for inversion/eversion of the legs and feet. Foot, crutch, and hip assemblies may also be provided for the exoskeleton. Further, the six joint actuators may be utilized between the hip brace assembly and thigh brace assembly, the thigh and shank brace assembly, and the shank brace assembly and foot assembly, where the braces may correspond to the customizable orthotic/prosthetic design. The modularity of the actuators and braces allows for exoskeleton assemblies that can be tailored to patient specific needs.

A robotic system configured to, in response to a state transition intention input, change the robotic system from operating in a first mode with sensitivity to detecting state transitions at a first sensitivity level to operating temporarily in a second mode with sensitivity to detecting state transitions at a second sensitivity level that is more sensitive than the first sensitivity level. The state transition intention input indicates an intention to make a state transition from a first state to a second state, with the second state being possible from a plurality of possible different states.

A gait trainer adapted for use with a treadmill and, optionally, a spinning cycle, provides greater accessibility for therapeutic and rehabilitative gait pattern training to individuals confronting injury, illness, or disability. The gait trainer is adjustable, to accommodate a wide variety of users with different stride lengths and needs.

A mobility assistance apparatus includes first and second frames positioned on left and right sides of a user; a hinge arm mechanism coupled to the first and second frames; and a pivotable securing unit or a walking seat coupled to the frames to transfer at least a portion of the user's body weight from the legs and to transfer weight through the user's hip or pelvis to the first and second frame enabling the user to stand or work for an extended period without requiring the user's arms to hold the frame.

Assisted walking devices for use by a person with at least one side paralysis or weakness and for paraplegics are provided with features for user friendly attachment and release of the devices. The assisted walking devices include features for controlled limitation of lateral gait movement that occurs in natural lateral walking gait motion.

A medical ambulatory aid comprising, in combination, a waist belt harness, a thigh brace, a calf brace and a walking boot.

Provided are apparatuses for augmenting human speed, human-driven compliant mechanisms, artificial limbs to augment human movement, and the like. The apparatuses can include variable stiffness mechanisms including springs that can be configured to selectively store and subsequently release energy generated by human movement. The apparatuses can selectively release the captured energy supplied by the human to provide force and power output beyond the physical capability of the human.

The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.

The invention concerns an exoskeleton made of elements combined or attached together, said elements being adjustable or not and said elements being made in a sandwich construction. The invention also concerns a method to manufacture such an exoskeleton.