An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

A supporting module including a supporting frame including a proximal end and a distal end, a connecting plate connected with the distal end of the supporting frame, a sliding plate in contact with one face of the connecting plate, a supporting band connected to both ends of the connecting plate, and an elastic strip configured to connect the sliding plate and the connecting plate is disclosed.

The invention relates to an exoskeleton including: a foot structure; a lower leg structure; a mechanical knee link having a pivot axis; and a mechanical ankle link connecting the foot structure to the lower leg structure and including a first pivot connection having a first pivot axis that is substantially parallel to the pivot axis of the mechanical knee link, and a second pivot connection having a second pivot axis that is perpendicular to the first pivot axis and forms an angle of between 30 and 60 with the support plane when the exoskeleton is upright and at rest.

The present invention belongs to the field of medical rehabilitation training equipment, and particularly discloses a reversible mechanical arm gravitational torque balancing device, comprising a counterweight guide groove module, a counterweight, a mechanical arm joint, a rope, a guide pulley block, a counterweight disc, a mechanical arm joint link and a rack. The counterweight guide groove module is mounted on the rack; the counterweight has a lower end mounted on the counterweight guide groove module and an upper end connected to the rope, and the rope is wound on the counterweight disc after passing through the guide pulley block mounted on the rack; the mechanical arm joint is mounted on the rack and internally provided with a motor; the counterweight disc is mounted on an output shaft of the motor of the mechanical arm joint; and the mechanical arm joint link is also mounted on the output shaft of the motor of the mechanical arm joint and the gravity of the mechanical arm joint link produces a gravitational torque on the mechanical arm joint. The present invention can change the direction of the provided balance torque when the mechanical arm performs the morphological transformation, and features simple, rapid and labor-saving operation as well as reliable structure.

A motion assistance apparatus includes a proximal frame configured to support a proximal part of a user, a connecting frame rotatably connected to the proximal frame, a distal frame rotatably connected to the connecting frame and configured to support a distal part of the user, and a power transmitter including a slider configured to slide along the proximal frame, a pusher rotatably connected to the distal frame and the slider, and a coupler configured to connect the slider and the pusher and positioned closer to the proximal part of the user than a rotation axis of the connecting frame in the whole range of motion.

The present disclosure relates to a powered exoskeleton. The powered exoskeleton includes a leg connection rod and a stabilizing structure. The stabilizing structure is mounted on the leg connection rod. The stabilizing structure is switched between a folded state and an unfolded state in such a manner that the stabilizing structure is folded on the leg connection rod when the stabilizing structure is in the folded state, and the stabilizing structure is suitable for being in contact with the ground and supports the leg connection rod in a tilted upward direction when the stabilizing structure is in the unfolded state.

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.

There is provided a leg massager that massages a user's leg by a position-adjustable massaging system for selectively massaging massage target areas of the leg. The leg massager includes: a lower massaging system that massages a massage target area of the user's leg L including at least user's foot F; an upper massaging system that massages an upper massage target area located above the massage target area which is massaged by the lower massaging system; a driving mechanism that drives the upper massaging system and the lower massaging system; and a rockably supporting portion that supports the upper massaging system for rocking motion about its horizontal axis.

There is provided a massage device for performing a grabbing massage such as to grab a to-be-massaged area. The massage device (1) comprises: a kneading massage member (2) having a kneading massager (9) at its front end; and a grabbing massage member (8) having a grabbing massager (7) at its front end, which is disposed on the base end side of the kneading massage member (2), and, the grabbing massage member (8) is designed to perform a grabbing massage by moving the grabbing massager of the grabbing massage member (8) close to and away from the kneading massager (9).

Disclosed is a mobile robot which includes: a mobile base which exhibits a control system configured to control the characteristics of the motion of the mobile base; and a bearing system configured to be grasped by a person. The bearing system is configured to pivot freely with respect to the mobile base about a vertical rotation axis. The robot includes at least one first sensor configured to detect at least one characteristic of a rotation motion of the bearing system with respect to the mobile base and to advise the control system which is configured to modify the trajectory of the robot as a function of the characteristic, detected by the first sensor, of the rotation motion of the bearing system.