A haptic system for providing a gait cadence to a subject comprising a portable telecommunication device with a control unit and a wireless transmission means; a vibrotactile device configured to be tightly worn on a portion of the subject's body, including at least one motor configured to generate vibrations that can be perceived by the subject and an actuation unit configured to actuate the motor. The actuation unit is configured to receive wireless signals from the wireless transmission means of the portable telecommunication device and to cause the motor to produce vibrations responsive to the wireless signals. In the control unit a generation program is resident configured to generate cadence signals and to transmit the wireless signals responsive to the cadence signals by the wireless transmission means to the actuation unit. The generation program is configured to provide corresponding cadence pulses to the motor.

A wearable exoskeleton comprises a back frame set and a lower limb link rod set. The back frame set comprises a sliding rod and an object seat. The object seat is coupled to the sliding rod and configured for carrying object. One end of the lower limb link rod set is coupled to the object seat. The back frame set is worn on the back of the user. The lower limb link rod set is worn on the lower limb of the user for responding to the flexing or erecting movements of the user's lower limb. When the other end of the lower limb link rod set contacts the ground with the action of the lower limb, the ground provides an upward reaction force, and the reaction force is transmitted to the object seat through the lower limb link rod set to push up the object.

A walking assisting apparatus includes a leg mounted device configured to be mounted on a leg of a user to assist walking of the user. A waist mounted device is provided on an upper side of the leg mounted device and configured to be mounted on a waist of the user. A support is located on a front side of the leg mounted device and configured to contact a ground surface. A control device is coupled to a front side of the waist mounted device, electrically connected to the leg mounted device, and configured to control the leg mounted device. A connector connects the control device and the leg mounted device to detachably housing house the support.

A walking training system according to the present embodiment includes: a treadmill; a load distribution sensor that is provided on a lower side of a belt of the treadmill so as not to move together with the belt and that detects a distribution of a load received from a sole of a trainee riding on the belt of the treadmill; an extraction unit that extracts a load distribution in a region corresponding to a position of the sole of the trainee during walking training, out of a load distribution detected by the load distribution sensor; and a determination unit that determines a walking state of the trainee based on the load distribution extracted by the extraction unit.

A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.

An ankle exoskeleton device is provided having a lower leg anchor, a foot/ankle anchor, a first actuator and a second actuator. The first actuator includes an upper end disposed at a first anchor point on the right side of the foot/ankle anchor and a lower end disposed at a second anchor point on the right side of the lower leg anchor. The first actuator includes a first biasing mean having a neutral position when the ankle is in a neutral position. The first biasing means provides for compression loading due to ground reaction forces on the foot/ankle anchor to provide a cushioning effect on the ankle as the being takes a step. The second actuator provides for substantially the same elements on the left side of the foot/ankle anchor and the lower leg anchor.

A walking assist device includes a pair of link members rotatably connected to each other at an output shaft situated at a location corresponding to a knee of a user, one link member being fixed to a thigh side of the user, and another link member being fixed to a lower leg side of the user, a rotary damper that generates a resistance force that is conveyed to the output shaft and that acts against rotation of the link members around the output shaft, a one-way gear that limits the resistance force generated by the rotary damper to one of directions of the rotation of the link members around the output shaft, and a clutch that switches between conveyance and non-conveyance of the resistance force from the rotary damper.

A flexible wearable robot for assisting with a walking motion of a user may include a thigh strap to be worn to enclose a thigh portion of a user, a shank strap to be worn to enclose a shank portion of the user, a driver to be worn on a back or waist portion of the user to provide a driving force for assisting with a walking motion of the user, a first driving wire with one end connected to the thigh strap and the other end connected to the driver to receive tension, a second driving wire with one end connected to the shank strap and the other end connected to the driver to receive tension, and a controller to control a drive of the driver to selectively apply tension to at least one of the first driving wire and the second driving wire.

The present disclosure discloses an unpowered wearable walking assistance knee equipment with gait self-adaptivity comprising a left foot power output assembly, a right foot power output assembly, a left leg knee joint assistance execution assembly, a right leg knee joint assistance execution assembly and a driving force transmission device. The equipment of the present disclosure is based on lever principle and crank block structure principle and adopts an operation mode of combining ipsilateral parallel driving input and different sides cross driving input. The self-weight of the human body is utilized as a driving force during the walking process to enable the left foot power output assembly to provide the left leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the right leg knee joint assistance execution assembly with a pulling force for its bending, and to enable the right foot power output assembly to provide the right leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the left leg knee joint assistance execution assembly with a pulling force for its bending, so that a torque for assisting the stretching and bending of the left leg knee joint and the right leg knee joint is generated according to a gait cycle regularity during the walking process, and the goal of walking assistance is achieved.

A power assist suit includes a harness worn at least around hips of a wearer, an assist unit, a power unit, and a bearing roller. The assist unit includes an arm and a thigh-worn part. A rail is provided at a part of the arm in a longitudinal direction. The rail includes channel-shaped parts extending along the longitudinal direction. The thigh-worn part is connected to sliding movable parts or integrated with at least a portion of the sliding movable parts. The bearing roller is disposed between each of the channel-shaped parts in the rail and each of inner wall surfaces of the sliding movable parts facing the respective channel-shaped parts.