An exoskeleton device is provided herein that includes a control unit including a controller. At least one embedded sensor is configured to acquire data. An actuator is in electrical communication with the at least one embedded sensor and the controller. The controller is configured to adjust a level of assistance or resistance provided by the actuator in response to a change in a performance metric as measured by the acquired data.

In some embodiments, a body anchor for supporting an assistive device can include: a cuff to exert a compression force on a body part of a user; and one or more tensile elements having first ends and second ends. The first ends of the tensile elements can be configured to be attached to the assistive device. The second ends of the tensile elements can be arranged about the cuff to cause the compression force to vary in proportion to a load exerted by the assistive device.

Provided is a rehabilitation training apparatus for an ankle joint. The rehabilitation training apparatus comprises a working platform, a Z-axis rotating mechanism, a Y-axis rotating mechanism, an X-axis rotating mechanism, and a pedal. The Y-axis rotating mechanism includes an annular bracket vertically fastened to a driving arm of the Z-axis rotating mechanism, an annular sliding cover slidably disposed on one side wall of the annular bracket, a Y-axis driving mechanism for driving the annular sliding cover to rotate around the axis of the annular bracket, and a sliding block for locating the annular sliding cover. The Y-axis driving mechanism synchronously rotates with the annular sliding cover and the X-axis rotating mechanism is fastened to one side of the annular sliding cover.

An assist device includes: a first brace configured to be worn on at least a waist of a user; an arm configured to extend along a thigh of the user and to rotate with respect to the first brace; an actuator configured to generate torque that rotates the arm; and a second brace provided on the arm and configured to be worn on the thigh. The arm includes an arm body and a holding portion. The holding portion is provided on the arm body such that the holding portion is movable in a longitudinal direction of the arm body. The holding portion holds the second brace such that the second brace is rotatable.

A tendon actuated hand enhancer (1) having a force anchoring device (2), comprising a rigid band (8), circumventing more than half of a circumference, but is bendable in the circumferential direction. At least one pulling point (6) for at least one artificial tendon (3) is provided at the force anchoring device (2). The force anchoring device (2) is provided at the tendon actuated hand enhancer (1) at a position corresponding to carpal and proximal portion of metacarpal bones of a user's hand when the hand enhancer (1) is in use, and a pulling means (4) for pulling the at least one artificial tendon (3) is connected to the hand enhancer (1).

A system for augmenting the motion of a person includes an assistance apparatus with a first attachment for connecting the assistance apparatus to a first point on the person's body, a second attachment for connecting the apparatus to a second point on the person's body, an actuator for applying force between the first and second attachment points, the force augmenting motion of a part of the body, and a set of sensors detecting reaction force on the person's body when moving in the manner that the actuator augments. A control system implements a negative feedback loop, in which the force applied by the actuator is based on a weighted sum of measurements from the sensors, and is updated continuously based on the sensor measurements.

An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other, respectively, and a motor. When assistance is stopped, the motor is configured to reduce tension of the first wire during a first stop period starting in a boundary period in a first period and ending in a start period of a second period, generate no tension in the second wire during the second period, reduce tension of the third wire during a second stop period starting in a boundary period in a third period and ending in a start period of a fourth period, and generate no tension in the fourth wire during the fourth period.

An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other on or above a front part and back part of the body of a user, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other on or above the front part and back part of the body of the user, respectively, a motor, a left sensor on the left hand of the user, and a right sensor on the right hand of the user. When a force is applied to the left sensor and no force is applied to the right sensor, the motor makes the tension of the second wire and the third wire greater than the tension of the first wire and the fourth wire. When a force is applied to the right sensor and no force is applied to the left sensor, the motor makes the tension of the first wire and the fourth wire greater than the tension of the second wire and the third wire.

An assistance apparatus includes wires, each of which couples an upper-body belt and one of left and right knee belts to each other, and a motor. When the assistance apparatus assists a user in walking backward while carrying an object, the motor generates, in a gait phase of a left leg, a tension greater than or equal to a second threshold value in a second wire during a fifth period other than a first period during which a tension greater than or equal to a first threshold value is generated, and a tension less than the second threshold value in a first wire during a sixth period other than a second period during which a tension greater than or equal to the first threshold value is generated, and generates, in a gait phase of a right leg, a tension greater than or equal to the second threshold value in a fourth wire during a seventh period other than a third period during which a tension greater than or equal to the first threshold value is generated, and a tension less than the second threshold value in a third wire during an eighth period other than a fourth period during which a tension greater than or equal to the first threshold value is generated.

A method of using an ankle exoskeleton device is provided herein. The method includes collecting one or more biomechanical data points from an individual. The method also includes developing individualized musculoskeletal simulations based on the one or more biomechanical data points. In addition, the method includes creating predictive simulations by modeling effects of an ankle exoskeleton device on the individualized musculoskeletal simulations. The method also includes utilizing established device-user relationships with real-time measurements to adjust device control. Lastly, the method includes optimizing design and control parameters of the exoskeleton device based on the predictive simulations and user responses.