Disclosed is a wearable device including a link unit which has a shape corresponding to the lower extremities of the wearer and rotates in a front-rear direction, and a power supply unit. The link unit includes a right link unit fixed to the right lower extremity of the wearer and has a lower end that comes into contact with the ground, and a left link unit which is fixed to the left lower extremity of the wearer and has a lower end that comes into contact with the ground. A steering mode is provided to steer the link unit, and during the steering mode, i) the power supply unit supplies power to space the right link unit and the left link unit apart from each other, and then ii) the power supply unit supplies power in a direction to cause a unit to be rotated rearward.

A kinematic chain comprises a first pulley, arranged to rotate about a rotation axis x, and a second pulley arranged to rotate about a rotation axis y. The kinematic chain comprises then at least one connecting element comprising at least one passage having at least one rotating element, said or each connecting element also comprising at least one interface arranged to connect the connecting element to an adjacent connecting element or to a pulley, generating a rotational constraint about a rotation axis z. The kinematic chain also comprises a transmission element arranged to develop along a determined path for transmitting a rotational motion between the first pulley and the second pulley. The transmission element is adapted to be, in use, fixedly in contact with said or each rotating element by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.

An exoskeleton structure includes a leg part to be fastened to a leg of a user, a foot part to be fastened to a foot of a user, a mechanical linking assembly linking the leg part to the foot part, and including a first pivot allowing the foot part to rotate relative to the leg part about a first axis when the foot of the user makes an internal/external rotation movement relative to the leg, and a second pivot allowing the foot part to rotate relative to the leg part about a second axis when the foot of the user makes a pronation/supination movement relative to the leg. The first pivot is at a height greater than or equal to 20 centimetres from the ground, and the distance between the first axis of rotation and the second axis of rotation is less than or equal to 5 centimetres.

A device is described, for blocking a shoe for an exoskeleton of a system for rehabilitating the walk comprising a structure designed to externally wrap the heel of a patient, allowing the contact between the sole of the shoe and the ground, the structure comprising a rear element connectable to a bearing and moving structure of a foot; a band assembly connected to the structure to strap up and tighten the shoe of the patient in order to make it integral with the device; an exoskeleton and a system comprising such device are further described.

To provide a joint support unit, etc. capable of being worn on both left and right joints. A joint support unit 20 includes a first link 21 worn on one end side of a knee joint, a second link 22 worn on the other end side of the knee joint, and a driving unit 30 configured to cause the first link 21 and the second link 22 to perform rotational movement, or to relatively perform rotational movement while moving a rotation center and to perform sliding movement.

A motion assistance apparatus includes a proximal support configured to support a proximal part of a user, a first drive link and a second drive link configured to perform translational motions with respect to the proximal support at different velocities, a support joint rotatably connected to the second drive link, a support body connecting the first drive link and the support joint, the support body configured to simultaneously perform a translational motion and a rotational motion with respect to the proximal support, a distal support connected to the support body, the distal support configured to support a distal part of the user, and a torque providing device configured to provide a torque to rotate the support joint.

A motion assistance apparatus including a support link to be attached to a waist of a user, a thigh link connected to a first end of the support link, a knee link connected to a first end of the thigh link, a connecting link connected to a first end of the knee link, and selectively connected to a second end of the support link, and an actuator configured to rotate the knee link with respect to the thigh link is provided.

A first exemplary aspect is a walking training apparatus including: an walking assistance apparatus attached to a lower limb of a trainee; at least one wire connected to the lower limb directly or through the walking assistance apparatus; a first wire winding mechanism configured to wind the wire for applying a pull-up force to the wire; a sensor for detecting displacement information according to a displacement of a position connected to the wire in a lateral direction; and a controller configured to control the first wire winding mechanism based on the displacement information.

A standing training mobile device for carrying a patient to perform active-assisted upright locomotion is provided. The standing training mobile device includes a base, a mobile module, a lifting module, a control module, and a support module. The mobile module and the lifting module are disposed on the base. The control module is disposed on the lifting module and is coupled to the mobile module. The control module includes a manipulation platform and two control assemblies disposed on the manipulation platform for use of the patient. The support module includes a support frame, a first support assembly, a second support assembly, and a third support assembly. The first support assembly, the second support assembly, and the third support assembly are slidably disposed on the support frame respectively. The second support assembly is disposed between the first support assembly and the third support assembly.

An assist device includes a first harness, a second harness, a belt body and an actuator. The first harness is configured to be fitted to at least one of a shoulder region and a breast region of a user. The second harness is configured to be fitted to left and right leg regions, respectively, or a waist region, of the user. The belt body provided so as to extend to the first harness and to the second harness along a back side of the user. The actuator is provided in the first harness or the second harness and configured to wind and unwind a part of the belt body.