A human interface device is configured to be coupled to a trunk of a person and comprises a frame, a fabric coupled to said frame configurable to be under tensile forces, and a belt configured to be coupled to two side edges of said frame wherein when said belt is worn by said person, an area of said fabric will be pushed against the person's lower back conforming to the shape of the lower back of said person. In operation when said human interface device is worn by said person, the weight of any load coupled to or supported by said frame will be partially supported by the friction force between the area of said fabric which is pushed against the person's lower back, and the person's lower back allowing said person to carry said load.

Two groups of massage heads are arranged on a main body of the movement, each massage head group includes a first massage head and a second massage head, the movement body includes the motor, the worm on the motor driven at both ends of the turbine, each turbine transmission including a kneading gear with a shaft, the first massage head is arranged at the end of one connecting arm, the other end of the connecting arm is arranged on the shaft, and a connecting arm. The distance between two nodules and a third nodule of each of the two groups of massage heads emulates a human thumb and fingers; a cover coupled to the main body including at least two adjustable straps configured to accept human arms; and a buckle coupled to the at least two adjustable straps to enable lengthening and shortening of the at least two adjustable straps.

An exoskeleton to assist a user in moving as object comprising an upper body harness, a mid-body harness, and a lower body harness. First and second sets of elongated energy return members are located between the harnesses and are used to assist a user in moving an object.

A therapeutic device that surrounds and firmly grips the upper part of the arm and which allows the therapist to apply a pair of opposing tangential forces (13) to the protrusions or protuberances (6) and (7) of the device in order to perform passive internal and external shoulder rotation exercises without transmitting any force to the elbow. This means of applying forces directly to the upper part of the arm prevents the forearm from having to be used as a lever to perform rotations, which can damage or affect the elbow during the therapeutic process. In addition, the device allows the greatest possible force to be applied to the shoulder to maximize recovery. The alternative design of the device allows a variable speed motor to be coupled by incorporation of coupling parts (14), (15).

An exoskeleton for humans including a joint element that interacts directly or indirectly with a human's joint via an end-effector mount, wherein the end-effector mount is arranged to perform an arbitrary planar parallel movement in a plane, allowing superimposed translational and rotational movements of the end-effector mount relative to a body of the joint element. The exoskeleton allows for excellent adjustment of the joint axes, i.e. the exoskelleton's and the human's joint, for effecting simultaneous translational and rotational movements. Particularly, the exoskeleton is self-aligning to the movements of a human's joint independent from differences in the attachment of the exoskeleton to the body and anatomical differences of the patients.

A power assist suit includes: a body wearing tool; a left actuator unit and a right actuator unit attached to the body wearing tool and worn on a left and right thighs of the wearer, such that the left actuator unit and the right actuator unit respectively generate assist torques of assisting motions of the left and right thighs; left and right-torque-related amount detectors which detect a left-torque-related amount and a right-torque amount related to left and right wearer torques and left and right assist torques, the left and right wearer torque being respectively input from the left and right thighs to the left actuator unit and the right actuator unit, the left and right assist torque being generated by the left actuator unit and the right actuator unit; and a controller which automatically switches a motion mode based on the left-torque-related amount and the right-torque-related amount.

Exosuit systems may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer. In order to transmit assistance to the user of the exosuit, loads need to be translated by the exosuit. This is can be through the use of load distribution members. Load distribution members can be placed around the pelvis, waist, thighs, and other body parts.

Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points A.sub.l and B.sub.1 located at a distance A.sub.1B.sub.1, said second element comprising two pivot points A.sub.2 and B.sub.2 located at a distance A.sub.2B.sub.2. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point A.sub.l and a first end link pivotally connected to the first external link at a pivot point D.sub.1, said pivot point D.sub.1 being located at a distance A.sub.1D.sub.1 by the pivot point A.sub.1. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A.sub.2, and a second end link pivotally connected to the second external link at a pivot point D.sub.2, said pivot point D.sub.2 being located at a distance A.sub.2D.sub.2 by the pivot point A.sub.2. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point B.sub.1 and integrally connected to the second end link at a junction point C.sub.2, a second intermediate link pivotally connected to the second element at the pivot point B.sub.2 and integrally connected to the first end link at a junction point C.sub.1. The first and the second end link are pivotally connected to each other at a pivot point M. Defining ==, for any value of , the projections of the pivot points A.sub.1, B.sub.1, A.sub.2, B.sub.2 in a plane , lay in a circumference K having center O and radius r=A.sub.1D.sub.1=A.sub.2D.sub.2=D.sub.1B.sub.2=MB.sub.2=D.sub.2B.sub.1=MB.sub.1, in such a way that decreasing the value of the first and the second element rotate with respect to each other about an axis z orthogonal to the plane and passing through the center O in the direction for which the point A.sub.1 is overlapped to the point B.sub.2.

Implementations described and claimed herein involve a shoulder exoskeleton having a spherical parallel manipulator with a plurality of parallel linear actuators connected to a base coupled to a user's arm. A passive slip mechanism is operatively coupled to the spherical parallel manipulator as well as being coupled to the user's arm. The slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference.

An upper arm module of a wearable muscular strength assisting apparatus includes: a base part fixedly connected to a wearer's body; an upper arm part being configured such that a first end thereof is coupled to the base part to be rotatable about a fixed point, and being coupled to the wearer's upper arm to apply a rotational torque thereto; a first link configured such that a first end thereof is rotatably coupled to the base part at a point of application; a second link extending on a plane on which the upper arm part extends, and being rotatably coupled to a second end of the first link at a first point; a third link coupled to the second link at a second point to guide movement of the second point; and an elastic body generating an elastic force by deformation.