In one embodiment, the exoskeleton structure is fastened to the body of the user by a brace and at the foot level. The exoskeleton includes at least one set of three joints corresponding to the hip abduction/adduction, the hip flexion/extension and the knee flexion/extension, wherein the architecture of the exoskeleton is compatible with a set of different removable, adaptable and backdrivable actuation units dedicated to each joints and remotely located around the trunk of the user to decrease inertia and mass on the distal segments, wherein each joint can be modularily let free, constrained by a visco-elastic mechanism or actuated by one corresponding actuation unit.

A wearable module, for a wearable device, may include: a cover comprising a cover body and a cover hole penetratingly formed in the cover body; a support part including a support body made from a material that is more flexible than that of the cover, a support head that is connected to the support body and that can be attached/detached to/from the cover body, and an attachment part, which is connected to the support body, is positioned on the opposite side of the support head with respect to the support body, and passes through the cover hole to be attached to the outer surface of the support body; and an elastic layer of which a portion is fixed to the support part and which can move relative to the cover.

A method for controlling an ambulatory exoskeleton (1) linked to a user (100), comprising the following steps: —measuring only the vertical component (Z.sub.Ng, Z.sub.Nd) of the pressure (R.sub.d, R.sub.g) under each foot (123, 133) of the user (1); —controlling actuators (40, 41, 42, 43) such that the vertical component (Z.sub.Ed, Z.sub.Eg) of the resultant of the balancing forces (R.sub.Eg, R.sub.Ed) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (Z.sub.Ng, Z.sub.Nd) of the pressure (R.sub.d, R.sub.g) measured under the corresponding foot (123, 133) of the user (100).

A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user. Automatic adjustments to the device components, including adjusting tension and resistance levels of the joint components, may then be made based the performance metrics.

A method of constructing an inflatable fluidic actuator that includes generating a tube configuration with one or more shapes of fluid-impermeable membrane material, the tube configuration having a first tube end and a second tube end and an internal tube face and an external tube face. The method also includes coupling a first and second interface to the tube configuration at the first and second tube ends by respectively coupling each interface to the tube configuration at a respective tube end by generating at least one of: a first circumferential bond between the fluid-impermeable membrane material and one or more sidewalls of the interface; and an external face bond between fluid-impermeable membrane material at the tube end onto an external face of the interface.

The disclosure belongs to the technical field of lower limb exoskeleton, and specifically discloses a hip-knee passive exoskeleton device based on clutch time-sharing control, comprising a waist support subassembly, connection subassemblies, thigh subassemblies, clutch subassemblies, shank subassemblies and elastic member subassemblies, the waist support subassembly is configured to be connected to the waist, the connection subassemblies are configured to include two connection subassemblies which are arranged in bilateral symmetry on two sides of the support subassembly, the thigh subassemblies are configured to include two thigh subassemblies which are respectively connected to the two connection subassemblies, the clutch subassemblies are configured to include two clutch subassemblies which are respectively mounted on the two thigh subassemblies, the shank subassemblies are configured to include two shank subassemblies which are arranged in bilateral symmetry below the two thigh subassemblies, the elastic member subassemblies are configured to include two elastic member subassemblies which are arranged in bilateral symmetry. The disclosure can assist the movements of the knee and hip joints, thereby improving the energy utilization efficiency and reducing the metabolic energy consumption of walking.

A walking training system and an operation method capable of performing training effectively are provided. A walking training system according to an embodiment includes a harness attached to a trainee's trunk, a first pulling unit configured to apply a pulling force to the harness from a first direction along a horizontal direction, a second pulling unit configured to apply a pulling force to the harness from a second direction along the horizontal direction, and a control unit configured to control the first and second pulling units.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

A fall prevention device configured to be coupled to a person and comprising a mechanical torso configured to be coupled to the person's torso and a mechanical structure configurable to be coupled to the mechanical torso from its first end. The mechanical structure and mechanical torso resist forces at least along one direction to maintain their posture relative to each other. In operation the second end of the mechanical structure is positioned behind the person and substantially close to the ground. When the second end of the mechanical structure contacts the ground, contact points of legs of the person on the ground and contact points of the second end of the mechanical structure outline a multi-sided polygon on the ground. If the vertical projection of the center of gravity of the person to the ground intersects the ground within the multi-sided polygon, the person and fall prevention device remain stable.

In an embodiment, an exoskeleton that can be applied to a limb of a wearer (P) includes a first member (12) and a second member (14) with an articulation (16) set in between to enable a relative movement of angular orientation of the first member (12) and of the second member (14) over a range of angular orientation. The exoskeleton (10) can likewise present at least one of the following features: —i) the second member (14) includes: —a first structure (14a), which can be oriented at the aforesaid articulation (16) with respect to the first member (12) over the entire said range of angular orientation; and —a second structure (14b), which can be coupled to the limb of the wearer (P) with a latch device (20) for latching the second structure (14b) to the first structure (14a), the latch device (20) being selectively disengageable at a certain angular position of the aforesaid range of angular orientation to render the first structure (14a) orientable with respect to the first member (14) independently of the second structure (14b); and/or —ii) the exoskeleton includes a distal end platform (22) coupled to the exoskeleton via a ball joint (18).