A walking assistance device and method for providing an assist torque to an ankle of a user is provided. To provide an assist torque to an ankle of a user, the walking assistance device generates a leg image by capturing a second leg using a camera attached to a first leg, determines a gait state of the second leg based on the leg image, determines an assist torque value output to the first leg based on the gait state of the second leg, and controls a driving device such that the assist torque value is output to the first leg.

A method for controlling an ankle-type walking assistance device may include measuring an angle of a joint of the walking assistance apparatus, calculating an angular velocity and a linear velocity of a frame of the walking assistance device using an inertial measurement unit (IMU) attached to the frame, generating a dynamics model for the walking assistance device based on the angle of the joint, the angular velocity and the linear velocity of the frame, calculating a disturbance applied to the walking assistance device based on the dynamics model, and controlling the walking assistance device based on the calculated force, equivalent, or wrench.

Garment systems including a flexible compression garment, at least one sensor, and at least one therapeutic stimulation delivery device operable responsive to sensing feedback from the at least one sensor, effective to provide therapeutic radiation to a body part of a subject. Methods of using such garment systems are also described.

A training apparatus includes: a controller. The controller is configured to: (a) while a subject is performing a behavior, acquire time-series myoelectric potentials of each of muscles of the subject; (b) calculate a muscle synergy matrix W, a control matrix C and an error matrix E from a myoelectric potential matrix M so that the relationship M=WC+E is satisfied, row vectors each expressing the acquired time-series myoelectric potentials of a corresponding one of the muscles, m being arranged in rows in the myoelectric potential matrix, n unit column vectors being arranged in columns in the muscle synergy matrix W, n row vectors being arranged in rows in the control matrix; (c) calculate a feature quantity indicating consistency among the unit column vectors included in the calculated muscle synergy matrix W; and (d) output the calculated feature quantity.

A lower-leg exoskeleton that includes an inflatable actuator configured to be worn over a front portion of a leg of a user and configured to be disposed directly adjacent to and surrounding a joint of the leg of the user. The inflatable actuator is configured, when worn by the user, to receive and transmit an actuator load generated by the inflatable actuator around the joint of the user to a load contact point. Inflation of the inflatable actuator generates a moment about the joint of the user to cause flexion of the leg of the user.

A supporting module, a motion assistance apparatus including the supporting module, and a method of controlling the motion assistance apparatus are provided. The supporting module may include a supporting member configured to enclose at least a portion of a support object, and a sensor module configured to sense information regarding whether the support object is out of a neutral position with respect to the supporting member.

A muscle training apparatus capable of generating a force is disclosed. The muscle training apparatus includes a second support shell, a force-generating unit and an elastic covering unit. The second support shell is spherical and has a second containing space. The force-generating unit is disposed and fixed in the second containing space of the second supporting shell for generating a force. The elastic covering unit covers the second support shell to have a soft surface. The muscle training device can generate a force in a specific direction and intensity by the force-generating unit.

A method and apparatus for protecting a circuit are provided. The method and apparatus may measure a physical quantity of a motor by an external physical stimulus, may calculate a counter electromotive voltage generated by the motor, based on the physical quantity, may compare the counter electromotive voltage to an output voltage, and may control a circuit connected to the motor to be open when the counter electromotive voltage is greater than the output voltage.

Embodiments relate to devices, systems and methods of assisting blood flow return to the heart from a limb. The device comprising a wearable garment (115) and a compression apparatus (110) embedded in the garment (115) for applying an external compression according to a compression sequence to a muscle of a limb of a user based on real-time measurements regarding a cardiac cycle having a diastolic phase and systolic of the user and real-time measurements of muscle activity. The compression sequence is synchronized to comment when both the local blood flow at the limb is in the diastolic phase and the muscle is in a non-contracted state.

Disclosed is a method of identifying a parameter of a characteristic of a muscle, and walking assistance apparatuses and method based on the method. The method of identifying a parameter of a characteristic of a muscle includes estimating a first torque of a joint based on an electromyogram (EMG) signal, estimating a second torque of the joint based on motion data, and identifying a parameter of a characteristic of a muscle associated with the joint based on the first torque and the second torque.