A massage device that includes a housing, an electrical input, a motor, a switch in electrical communication with the electrical input and the motor and configured to selectively provide power from the electrical input to the motor, an actuated output operatively connected to the motor and configured to reciprocate in response to activation of the motor, and a treatment structure operatively connected to a distal end of the actuated output. The actuated output is configured to reciprocate the treatment structure at a frequency of between about 15 Hz and about 100 Hz, and at an amplitude of between about 0.15 and about 1.0 inches. The combination of amplitude and frequency provides efficient reciprocation of the treatment structure such that the treatment structure provides therapeutically beneficial treatment to a targeted muscle of a user.

An exoskeleton device is disclosed. The exoskeleton device comprises a Bowden cable, a shank portion comprising a strut, and a foot portion coupled to the shank portion by a rotational joint. The foot portion comprises a heel lever and a pulley attached to the heel lever, wherein the strut of the shank portion is configured to redirect the Bowden cable toward the pulley, wherein the pulley is configured to redirect the Bowden cable back toward the shank portion, and wherein the Bowden cable is configured to generate torque by pulling the pulley. The exoskeleton device further comprises a midsole, wherein the midsole is releasably coupled to the lever, and wherein the midsole is configured to transmit force to a foot of a user.

Disclosed herein is a leg exoskeleton configured to aid motion (e.g., walking) of a user in need thereof. In particular, the exoskeleton includes a belt configured to attach the exoskeleton to the waist of a user. The exoskeleton further includes a leg frame configured to attach to at least one leg of the user through a hip attachment mechanism on the belt. Finally, the exoskeleton includes an energy storage subsystem that is configured to store and release energy as the user walks, particularly aiding the user in the forward motion of the leg when walking. Methods of using the leg exoskeleton are also provided.

A system for dealing with breathing anomalies can monitor a subject for indications of breathing anomalies while the subject is sleeping. For example, the system can monitor blood oxygen saturation utilizing a pulse oximeter placed on a finger or toe, breathing rate utilizing a camera, or another appropriate physiological parameter. When a breathing anomaly is detected, the system can stimulate a volar surface of the subject, such as a planar surface of the subject's foot or a palmar surface of the subject's hand. The stimulation of the volar surface can manipulate the subject's breathing, for example producing the Babinski response as a sleep apnea therapy. Stimulating the volar surface can comprise producing or emulating a stroking motion across the volar surface, for example. In some examples, an array of actuators can be disposed adjacent the volar surface, and the actuators can actuate sequentially to stimulate the volar surface.

Provided is a walking aid device capable of easily offering walking training by aiding the oscillation of the user's pelvis. The walking aid device comprises a drive part which supports each of at least two or more locations of the user's lumbar region, and applies external force independently to each of the supported locations; a gait recognition unit which recognizes the user's gait; and a control unit which sets the user's ideal walking motion pattern based on a recognition result of the gait recognition unit, and controls the external force applied by the drive part to each of the locations of the lumbar region so that the user's pelvis position within the lumbar region will oscillate to match the walking motion pattern.

The walking training system 1 includes an upper acceleration sensor 52 and a lower acceleration sensor 54 installed at locations on the walking assistance apparatus 2 spaced apart from each other in a leg length direction. The control apparatus 100 estimates an acceleration at the center of gravity of the walking assistance apparatus 2 from accelerations acquired by the upper acceleration sensor 52 and the lower acceleration sensor 54. The control apparatus 100 then calculates an inertia force acting on the walking assistance apparatus 2 from the product of the acceleration at the center of gravity and the weight of the walking assistance apparatus 2. The control apparatus 100 controls the forward pulling unit 35 and the backward pulling unit 37 to reduce the inertia force acting on the walking assistance apparatus 2.

This document describes an exoskeleton device that includes a cable, a lever that is connected to the cable, a frame comprising a strut that redirects the cable toward the lever, wherein the frame is coupled to the lever by a rotational joint; and a motor that is connected to the cable and configured to cause the cable to provide a torque about the rotational joint, wherein the cable is configured to provide the torque by exerting a first force on the lever and a second force on the frame, and wherein the cable is further configured to provide the torque in a first rotational direction and is prevented from applying the torque in an opposite rotational direction to the first rotational direction.

A motion assistance apparatus includes a force transmitting frame configured to support a distal part of a user, a slider configured to slide in the force transmitting frame, and a driving frame connected to the slider and configured to slide with respect to a proximal part of the user.

A pelvis of a person is anchored to a chair structure. A lumbar belt is connected to the chair structure. The lumbar belt wraps around a lower abdominal region of the person to pull into a side of the person in a lateral-to-medial direction so as to move a scoliotic curve in a lumbar or thoracolumbar spinal region of the person toward a non-scoliotic spinal configuration. A lumbar derotator driver is connected to the chair structure. The lumbar derotator driver applies a therapeutic force to a prescribed posterior/lateral side of vertebrae in the lumbar or thoracolumbar spinal region when the lumbar belt is pulled in the lateral-to-medial direction, so as to derotate a scoliotic curve in the lumbar or thoracolumbar spinal region.

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.