A safety walker having a frame with a set of spherical caster wheels connected to the lower portion of the frame to provide omnidirectional movement with reduced force. A braking system is provided, where when a weight exceeding a threshold weight is applied to the frame, the brake is engaged to inhibit movement of the walker on the ground. The brake may use a mechanism in which each spherical caster wheel is retractably mounted within a lower end of a corresponding leg of the frame. Each spherical wheel is spring-loaded to urge the spherical wheel downward from the lower end of the corresponding leg. As weight is applied to the frame, the spherical caster wheel is pushed into the lower end of the leg, allowing the lower end of the leg to contact the ground surface and maintain stationary contact between the leg and the ground surface.

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.

An orthosis or exoskeleton system can be mounted proximate a user's joint. The system includes a brace, which includes a first body mounting portion to be mounted to one side of the user's joint and a second body mounting portion to be mounted to an opposite side of the user's joint. The first and second mounting portions are moveably coupled together. A range of motion (ROM) limitation mechanism presents a number of selectable ROM limits between the first and second body mounting portions. One or more sensors detect a user's kinematics and/or kinetics. The system is configurable during use based on the user's kinematics and/or kinetics, including by setting or updating the ROM limitation mechanism from a present ROM limit setting to a new ROM limit setting.

A system and method are disclosed that allows a practitioner to rotate a human subject in three different axes of rotation, independently from one another and without limitation on the degree of rotation, which allows for the treatment of various systems of the human subject.

Disclosed are powered gait assistance systems that include a controller, sensors, and a motor coupled to a patient's thigh and lower leg and operable to apply assistive torque to the patient's knee joint to assist the patient's volitional knee pivoting muscle output during selected stages of the patient's gait cycle, such that the assistive torque applied by the motor improves the patient's leg posture, muscle output, range of motion, and/or other parameters over the gait cycle. The sensors can include a torque sensor that measures torque applied by the motor, a knee angle sensor, a foot sensor that measures ground contact of the patient's foot, and/or other sensors. The controller can determine what stage of the patient's gait cycle the patient's leg is in based on sensor signals and cause the motor to apply corresponding assistive torque to the knee based on the gait cycle stage, sensor inputs, and known patient characteristics.

A joint actuator assembly incudes a motor, a rotating driving member driven by the motor for driving a driven component, and a transmission assembly located between the motor and the rotating driving member that provides speed reduction from the motor to the rotating driving member. The rotating driving member includes a magnetic/electrical coupling comprising a magnetic coupling component configured to magnetically couple with an opposing magnetic coupling of the driven component, and an electrical element configured to provide an electrical connection to an opposing electrical element of the driven component. The actuator and driven component may be combined into a mobility device including a magnetic/electrical coupling system comprising a first magnetic/electrical coupling on the actuator assembly that magnetically and electrically couples to a second magnetic/electrical coupling on the driven component. The magnetic coupling system includes a plurality of magnetic elements located on the first and/or second magnetic/electrical couplings and opposing electrical elements for electrical connection when the actuator assembly and the driven component are joined together.

A joint actuator assembly for a legged mobility device includes a motor that drives a joint connector for driving a joint of the mobility device, and a three-stage transmission of speed reduction to result in a high torque, low speed output. The first stage may include a small sprocket mechanically connected to the output shaft of the motor, and a large sprocket driven by a cable chain to provide the first speed reduction. The second stage may include a small central helical gear mechanically connected to the first stage output, and two opposing larger first and second outer helical gears that mesh with the central gear to provide the second speed reduction. The third stage may include a cable reel assembly including an output reel and a cable element that interconnects the output of the second stage and the output reel to provide the third speed reduction.

Provided is a rehabilitation training apparatus for an ankle joint. The rehabilitation training apparatus comprises a working platform, a Z-axis rotating mechanism, a Y-axis rotating mechanism, an X-axis rotating mechanism, and a pedal. The Y-axis rotating mechanism includes an annular bracket vertically fastened to a driving arm of the Z-axis rotating mechanism, an annular sliding cover slidably disposed on one side wall of the annular bracket, a Y-axis driving mechanism for driving the annular sliding cover to rotate around the axis of the annular bracket, and a sliding block for locating the annular sliding cover. The Y-axis driving mechanism synchronously rotates with the annular sliding cover and the X-axis rotating mechanism is fastened to one side of the annular sliding cover.

A system and method are disclosed that allows a practitioner to rotate a human subject in three different axes of rotation, independently from one another and without limitation on the degree of rotation, which allows for the treatment of various systems of the human subject.

A massage chair includes a back massage system and a thigh massage system with a roller mechanism configured to move a roller in a three dimensional orbital motion. The roller mechanism is driven by a single motor that can change the direction in operation. Also included is a roller motion drive element within the roller mechanism. A shaft is configured to pass through the roller motion drive element in an offset non-perpendicular angle relative to the end face thereby forming an angle between the shaft and the end face that is less than 85 degrees. The offset causes the orbital motion of the roller when rotated. The electronics of the massage chair facilitate facial recognition and a medical assessment device to detect bodily characteristics. The backrest of the massage chair can elongate to stretch the user. A plurality of airbags are also available for the twisting of the user.