Provided is an artificial muscle device, including a plurality of heat transfer modules including a thermal conductive body in which a plurality of tunnels parallel to each other and a thermoelectric element contacting an outer surface of the thermal conductive body, a connection member connecting a first heat transfer module to a second heat transfer module, the connection member being folded or unfolded according to a distance between the first heat transfer module and the second heat transfer module, a thermal reaction driving member passing through each of the tunnels, the thermal reaction driving member being stretched or contracted in a longitudinal direction of the tunnel according to a temperature of the thermal reaction driving member, and a power transmission part connected to an end of the thermal reaction driving member.

Provided is an artificial muscle device, including a plurality of heat transfer modules including a thermal conductive body in which a plurality of tunnels parallel to each other and a thermoelectric element contacting an outer surface of the thermal conductive body, a connection member connecting a first heat transfer module to a second heat transfer module, the connection member being folded or unfolded according to a distance between the first heat transfer module and the second heat transfer module, a thermal reaction driving member passing through each of the tunnels, the thermal reaction driving member being stretched or contracted in a longitudinal direction of the tunnel according to a temperature of the thermal reaction driving member, and a power transmission part connected to an end of the thermal reaction driving member.

An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.

An inversion table includes a supporting stand having a first interlocking member, and a tilt inversion mechanism. The tilt inversion mechanism includes an inversion unit pivoted on the supporting stand, a feet holding unit, and a locking unit having a second interlocking member disposed on the inversion unit. The tilt inversion mechanism is operable relative to the supporting stand such that the feet holding unit is disengaged from the locking unit in a non-reversible state, and that the feet holding unit is engaged with the locking unit in a reversible state.

In one embodiment, a kinetic shape is designed by determining an applied force to be applied to an object that is to incorporate the kinetic shape, determining a reactive force that is desired to be produced in response to the applied force, inputting the applied force and the reactive force into a kinetic shape equation, and solving the equation to obtain the kinetic shape.

A single-lower-limb rehabilitation exoskeleton apparatus and control methods includes a controller, an intact lower-limb component and a paretic lower-limb component connecting communicatively with the controller. The controller is used to determine the current state of the intact lower-limb through the intact lower-limb component and the current state of the paretic lower-limb through the paretic lower-limb component. When the intact lower-limb component is in the lifting state, the movement data of the intact lower-limb is collected and sent to the controller. The controller is used to determine the corresponding gait data for the paretic lower-limb component according to the movement data of the intact lower-limb and send the gait data to the paretic lower-limb component. The paretic lower-limb component is used to drive the paretic lower-limb to move or walk according to the gait data while the intact lower-limb is in the supporting state.

A mechanical foot includes a mechanical ankle joint including a leg portion configured to be fixed to a patient's leg, a foot portion configured to be fixed to the patient's foot, and a revolute. The leg portion and the foot portion are connected through the revolute in a manner of being rotatable relative to each other. The revolute includes a foot connecting portion connected to the foot portion and a leg connecting portion connected to the leg portion, and the foot connecting portion and the leg connecting portion are connected in a manner of being rotatable relative to each other. The revolute further includes a first elastic element having one end connected to the foot connecting portion, and the other end connected to the leg connecting portion, so that a force maintaining the patient's foot substantially horizontal is provided through the revolute at a position of the mechanical ankle joint.

A gait evaluation apparatus that evaluates a training gait of a paralyzed patient suffering from paralysis in a leg includes an acquisition unit configured to acquire a plurality of motion amounts of a paralyzed body portion according to a gait motion and an evaluation unit configured to evaluate that the gait motion is an abnormal gait in a case where at least one of the motion amounts acquired by the acquisition unit meets any one of a plurality of abnormal gait criteria set in advance. The abnormal gait criteria include at least two or more first criteria, which are criteria relevant to motion amounts of different parts of the paralyzed body portion, or at least two or more second criteria, which are criteria relevant to motion amounts of the same part of the paralyzed body portion in different directions.

A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.

A system for moving or assisting in movement of a body part of a subject, as well as a rehabilitation system including such a movement assistance system, includes a body part interface configured to be secured to the body part, and a motor-actuated assembly connected to the body part interface to move the body part interface to cause flexion or extension movement of the body part. A force sensing module is configured to measure forces applied between the body part interface and the motor-actuated assembly to ascertain at least one of volitional flexion and volitional extension movement of the body part by the subject, among other functions that may be implemented in movement assistance and rehabilitation systems using the disclosed force sensing module designs.