A motion assisting device assists a movement of a wearer raising an upper body and includes a first assisting unit and a second assisting unit. The first assisting unit and the second assisting unit are attached to a left side surface and a right side surface of the wearer, respectively, and each include a power unit that swings a leg rod and applies, to the leg rod, a force in accordance with the swinging movement of the leg rod. The power unit is connected to a back surface frame that is a rigid body and connects the first assisting unit and the second assisting unit. A back plate of an upper body fixing member is connected to the back surface frame by a coupling member. The back plate is swingable at least in an up-down direction and a left-right direction with respect to the back surface frame.

The knee joint weight-bearing apparatus includes a buttock attaching part, a lower-leg attaching part, and two thigh connection units. Each thigh connection unit includes a front thigh link and a rear thigh link. The buttock attaching part, the lower-leg attaching part, the front thigh link, and the rear thigh link constitute a four-bar linkage. The buttock attaching part is configured so that when a user applies his/her weight to the buttock attaching part, a tensile force is generated in the front thigh link and a compressive force acts on the rear thigh link. The rear thigh link includes a gas spring that is configured to be stretchable in a longitudinal direction thereof and generates a resistive force against the compressive force.

The present invention discloses a soft knee exoskeleton driven by a negative-pressure linear actuator, including: an exoskeleton controller, a left leg knee joint soft actuator, a right leg knee joint soft actuator and the like. The soft knee exoskeleton mainly uses a miniature vacuum negative pressure pump as an air pressure power source. A DSP embedded control system performs real-time processing on the data, such as a muscle force, a knee joint angle and a human-machine interaction force, detected by a sensing system, estimates a human-machine cooperation state, and performs real-time control on the switching of the negative pressure flow and an air channel of the miniature vacuum negative pressure pump.

The present disclosure is relates to an orthosis device. The orthosis device, in one embodiment, includes an actuator housing, and an electric motor coupled to the actuator housing, the electric motor including a motor stator and a motor rotor, and the electric motor further having high output torque. The orthosis device, in this embodiment, further includes a low-ratio transmission coupled to the actuator housing, the transmission including a gear system coupled to the actuator housing, and a drive system coupling the electric motor and the gear system, wherein a combination of the electric motor and transmission provide a user backdrivable orthosis device.

An exoskeleton (1) having a plurality of autonomously operable modules (2.sub.RK, 2.sub.LK, 2.sub.RH, 2.sub.LH) each having a dedicated controller (23.sub.RK, 23.sub.LK, 23.sub.RH, 23.sub.LH) connected to an actuated joint. The exoskeleton (1) further having a multimaster electrical communicator (3) between the controllers (23.sub.RK, 23.sub.LK, 23.sub.RH, 23.sub.LH) of the modules (2.sub.RK, 2.sub.LK, 2.sub.RH, 2.sub.LH). The controller (23.sub.RK, 23.sub.LK, 23.sub.RH, 23.sub.LH) of each module (2.sub.RK, 2.sub.LK, 2.sub.RH, 2.sub.LH) is configured for: collecting information from sensors; sharing information with the remaining modules through the multimaster electrical communicator (3); determining which other modules (2.sub.RK, 2.sub.LK, 2.sub.RH, 2.sub.LH) are present; and autonomously calculating and commanding a desired trajectory of the actuated joint of the module (2.sub.RK, 2.sub.LK, 2.sub.RH, 2.sub.LH) for assisting the movement of the corresponding biological joint in coordination with the kinematic condition of other biological joints.

A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.

A motion assistance apparatus includes a proximal support configured to support a proximal part of a user, a power transmitting frame configured to rotate relative to the proximal support, a driving frame connected to the power transmitting frame and configured to enclose at least a portion of a distal part of the user, a reinforcement belt attached to a front surface of the driving frame, a rear belt connected to the driving frame or the reinforcement belt and configured to support a rear surface of the distal part of the user, and a front belt with a central portion spaced apart from the driving frame, the front belt provided between the driving frame and the rear belt and configured to support a front surface of the distal part of the user.

A robotic assembly comprises a first joint comprising first and second support members rotatably coupled together, and a joint position restoration assembly coupled to at least one of the first or second support members. The joint position restoration assembly can comprise a first spring and a mechanical linkage, wherein the joint position restoration assembly is operable to apply a restoring torque to the first joint. The joint position restoration assembly can be configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to known mass properties of at least a portion of the robotic assembly acting on or otherwise associated with the first joint, such that, when the first joint is not undergoing powered actuation, the joint position restoration assembly operates to apply, based on the profile, the restoring torque to position and to support the first joint in a stable support position.

A robotic system comprising an upper robotic assembly and a base platform rotatable relative to one another in at least one degree of freedom via one or more joints. The robotic system further comprises a joint position restoration assembly coupled to at least one of the upper robotic assembly or the base platform, and having a first spring coupled between the upper robotic assembly and the base platform, the joint position restoration assembly being operable to apply a restoring torque to the first joint, wherein the joint position restoration assembly is configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to mass properties of at least a portion of the robotic assembly associated with the first joint, such that the joint position restoration assembly operates to apply the restoring torque to position and to support the first joint in a stable support position.

Examples of a device for guiding and detecting a motion of a target joints and a motion assistance system such motion guiding devices are described. The motion guiding and detecting device comprises a motion generator and a motion transfer and target interfacing unit to transfer the motion generated by the motion generator to the target joint. The system further includes a motion detection and feedback unit that interfaces with the target, and a controller that interfaces with both the feedback unit and the motion generator to control and coordinate the motion of the motion generator and the target joint.