A human-computer interface system having an exoskeleton including a plurality of structural members coupled to one another by at least one articulation configured to apply a force to a body segment of a user, the exoskeleton comprising a body-borne portion and a point-of-use portion; the body-borne portion configured to be operatively coupled to the point-of-use portion; and at least one locomotor module including at least one actuator configured to actuate the at least one articulation, the at least one actuator being in operative communication with the exoskeleton.

A medical device for providing oscillatory motion to an individual is provided. The medical device includes a holder that can hold one or more body parts of an individual and an oscillatory mechanism that can transmit an oscillating force to the holder. The medical device includes one or more sensors that provide information about the individual and one or more compliant components that are configured to allow movement of the one or more body parts that deviates from a movement of oscillation. The oscillating mechanism can dynamically change a frequency of an oscillation based on feedback from the one or more sensors. The oscillating mechanism can also dynamically change an amplitude of the oscillation based on feedback from the one or more sensors.

A flexible anchor member comprising a member for placement about a body part; at least one substantially inextensible textile element circumscribing the member and secured to itself or the member; and a force transfer coupler coupling a portion of the at least one substantially inextensible textile element to an actuator such that the substantially inextensible textile element constricts about the member for a duration of an applied force. Another flexible anchor member comprising an outer member including a substantially inextensible textile material configured for directing a force applied by an actuator to act upon all or a portion of the body part; an inner member for positioning between the body part and the outer member, a first surface of the inner member configured for frictionally engaging the body part or intervening clothing; and at least one coupler for coupling the outer member and the inner member.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

An apparatus and method for use of an improved stretching device providing various stretches and manipulation of a user's muscle groups, including lower body muscle groups. Movement of the upper and lower support members can be achieved with a controller or wireless controller, such as a cellular phone executing an application operatively connected via a transceiver of the stretching device. The upper support member and lower support member may be independently controlled by a secondary motor assembly at a rotational connection between the support members. Some embodiments may provide removable support members for switching between left and right-side manipulation of a user's left and right legs with a single device. Other embodiments may include a track to allow for a sliding movement of the motor assembly or the upper and lower support members between left and right sides of the stretching device.

Provided is a walking assistance method and apparatus for providing an assistance torque to an ankle of a user. To provide an assistance torque to an ankle of a user, a first pressure value and a second pressure value are received from a first pressure sensor and a second pressure sensor, a ratio between the first pressure value and the second pressure value is calculated, a gain value is determined based on the ratio, an assistance torque value is calculated based on the ratio and the gain value, and a driver is controlled to output the assistance torque value.

An exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot are provided. The self-locking mechanism comprises a first base, a rotating outward expanding locking member, a second base and a locking driving member; the rotating outward expanding locking member comprises a first rotating frame and a second rotating frame, and outer sides of the first rotating frame and the second rotating frame have a first friction surface; one end of the first rotating frame is pivoted with one end of the second rotating frame; the second base is rotationally mounted on the first base, and an inner wall of the second base defines a second friction surface enclosing the first friction surface; the locking driving member applies/removes a force pushing away from free ends of the first rotating frame and the second rotating frame, to make the first friction surface lock/unlock the second friction surface.

A single-lower-limb rehabilitation exoskeleton apparatus and control methods includes a controller, an intact lower-limb component and a paretic lower-limb component connecting communicatively with the controller. The controller is used to determine the current state of the intact lower-limb through the intact lower-limb component and the current state of the paretic lower-limb through the paretic lower-limb component. When the intact lower-limb component is in the lifting state, the movement data of the intact lower-limb is collected and sent to the controller. The controller is used to determine the corresponding gait data for the paretic lower-limb component according to the movement data of the intact lower-limb and send the gait data to the paretic lower-limb component. The paretic lower-limb component is used to drive the paretic lower-limb to move or walk according to the gait data while the intact lower-limb is in the supporting state.

A mechanical foot includes a mechanical ankle joint including a leg portion configured to be fixed to a patient's leg, a foot portion configured to be fixed to the patient's foot, and a revolute. The leg portion and the foot portion are connected through the revolute in a manner of being rotatable relative to each other. The revolute includes a foot connecting portion connected to the foot portion and a leg connecting portion connected to the leg portion, and the foot connecting portion and the leg connecting portion are connected in a manner of being rotatable relative to each other. The revolute further includes a first elastic element having one end connected to the foot connecting portion, and the other end connected to the leg connecting portion, so that a force maintaining the patient's foot substantially horizontal is provided through the revolute at a position of the mechanical ankle joint.

This application relates to an actuation system for assistive wearable devices such as exoskeletons designed to actuate a joint of a wearer of the device. The actuation system includes a differential pulley drum having a first drum portion and a second drum portion, the first drum portion and the second drum portion having different radii. The differential pulley drum is located at a first end of the actuator. The actuation system further includes a motor coupled to the differential pulley drum and configured to rotate the differential pulley drum, a second pulley located at a second end of the actuator, a flexible sleeve that extends between the differential pulley drum and the second pulley, and a strand that extends from the differential pulley drum to the second pulley through the flexible sleeve.