A method and apparatus for rehabilitation and training of an injured limb by using the corresponding functional healthy limb to control the motion of the injured limb are presented. A sensor system on the healthy and active limb, a processing unit, and a power supply are provided in the apparatus to provide signals that activate a powered mechanism configured for moving individual bones on the injured passive limb.

A device for providing assistance in dexterous grasping operations. The device is a nine degree of freedom exoskeleton glove capable of reproducing grasping tasks present in ordinary daily activity. The device relies on series elastic actuators and a motion amplification controller for movement and support of finger joints of a user and is easily modifiable to fit individual users with different hand sizes. The user driven control scheme requires no additional hardware (e.g., camera or EMG sensors) but relies on user movements (even weak movements). Intelligent assistance prevents uncomfortable motion beyond the natural range of motion of the fingers while reacting very quickly to the user's physical input.

An exoskeleton robotic equipment for tenodesis grasp and release training includes an exoskeleton mechanism and a control device. The exoskeleton mechanism includes a fixing seat worn on a forearm, an actuating device mounted to the fixing seat, and a transmission module connected to the fixing seat and pivotally connected to the actuating device and cooperating with the fixing seat and the actuating device to form a four-bar linkage mechanism. The actuating device is controlled by the control device to drive the transmission module to move relative to the fixing seat to change the transmission module into a release state and into a grasp state so as to move the index finger and the middle finger away from and toward the thumb.

Exoskeleton technology is described herein. Such technology includes but is not limited to exoskeletons, exoskeleton controllers, methods for controlling an exoskeleton, and combinations thereof. The exoskeleton technology may facilitate, enhance, and/or supplant the natural mobility of a user via a combination of sensor elements, processing/control elements, and actuating elements. User movement may be elicited by electrical stimulation of the user's muscles, actuation of one or more mechanical components, or a combination thereof. In some embodiments, the exoskeleton technology may adjust in response to measured inputs, such as motions or electrical signals produced by a user. In this way, the exoskeleton technology may interpret known inputs and learn new inputs, which may lead to a more seamless user experience.

Embodiments of the present disclosure are directed to devices for assisting joint flexion. Devices for assisting joint flexion can include a wearable component configured to fit over a user's finger, an actuator interface positioned at a joint of the user's finger, and a force sensor on a palmar side of a user's finger joint on an exterior surface of the wearable component. A force sensor measures an overall force applied to an object by a contact surface of the wearable component. Such devices can also include a motor coupled with the wearable component that provides the mechanical driving force to the actuator interface to assist with flexion of the user's finger joint.

Various embodiments provide assemblies for manipulating a user's limb with at least one inflatable member. The assemblies comprise a first pliable planar member and a second pliable planar member overlaid atop at least a portion of the first pliable planar member, such that a two ply configuration is provided. The two ply configuration itself comprises at least a distal and a proximal portion and at least one opening configured to accept at least a portion of the user's limb. The first and second pliable planar members combine to define at least one inflatable member, the inflatable member being at least a portion of at least one of the distal and proximal portions, the inflatable member being configured to be selectively inflatable so as to provide at least one inflation force upon the user's limb, such that the joint in the user's limb is manipulated. Associated methods are also provided.

An exoskeleton device for assisting the movement of a metacarpal-phalangeal joint of a hand in a flexion/extension plane Γ of the joint, including a metacarpal support arranged integrally with a metacarpal portion of the hand, a phalangeal support having a fastening link for fastening to a proximal phalanx, a kinematical chain between the metacarpal support and the phalangeal support arranged to provide and carry out a rotation of the phalangeal support with respect to the metacarpal support.

The present invention relates to a wearable actuation device (1) for the assisted movement of the fingers of a user's hand, comprising a supporting platform (10), intended to be positioned on the back of the hand and provided with fixing means for wearing in a removable way the device (1) on the hand. The device also comprises at least an articulated first finger module (2), connected with one end to the supporting platform (10) and suitable to be positioned and connected to a finger of the hand for guiding a movement of flexion or extension of the finger itself, and a motor (11) provided with an output shaft, supported by the supporting platform (10) and suitable to generate a rotational motion in two opposite directions of the motor shaft (11). The device (1) also comprises first transmission means of the first finger module (2) to allow an actuation at least of the first finger module (2).

An aid device for the movement and rehabilitation hand fingers includes a exoskeleton, an articulated glove or a wearable mechanism configured to be positioned on the back of at least one finger and to be mechanically constrained to the finger, and a motorized system exerting a movement or a change in the configuration of the exoskeleton. The exoskeleton includes a rigid elements arranged on a row one behind the other along a longitudinal axis parallel to the longitudinal extension of the finger and articulated with each other to make a modular underactuated structure and obtain maximum shape and kinematic adaptability to the fingers, particularly to follow the extension and flexing movement of the fingers. The motorized system includes pulling and/or pushing elements that act on one or more of the elements of the exoskeleton to produce finger movements and particularly the extension and flexing movements of the fingers.

A power assistive device 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 includes a hand brace and a base. The hand brace includes finger assemblies that adjustably connect to a platform, actuators that connect to the finger assemblies, and strain gauge sensors that connect to the finger assemblies and detect force signals generated by movement of the finger assemblies. The base removably connects to the hand brace and includes a forearm support, a C-shaped ring that includes C-shaped tracks formed along an inner circumferential surface of the C-shaped ring, a rotatable platform that moves along the C-shaped tracks, a mounting platform that connects to the rotatable platform, and an electromyography (EMG) sensor that attaches to the forearm of the user and senses EMG signals generated by movement of the hand of the user.