A grip for sexual articles like butt-plugs, anal beads and dildos that enables better control through a flexible finger attachment that is collapsible for comfortable sitting while the sexual article is being used.

A therapeutic massage chair is reclinable between a horizontal and inclined position. The chair includes an upper back support member and a lower support member that is axially movable along a support frame, and is also rotatable about an axis which is perpendicular to the plane of the upper back support member. Electric linear actuators are provided to recline the therapeutic massage chair, and both axially move and oscillate the lower body support member. The therapeutic massage chair may be fitted with a controller system which allows the chair to be operated wirelessly from a mobile device running a mobile application, which may communicate with a web-based portal and/or database.

A wearable device is disclosed. The wearable device may process a state variable defined based on motion information of a user, determine an interactive mode of the wearable device based on a gain associated with a magnitude of a torque of the wearable device, select a motion type from among motion types of the determined interactive mode based on a gait parameter of the user, determine a control factor for the torque based on the selected motion type, and generate the torque based on the processed state variable, the gain, and the determined control factor.

A shorts-type pneumatic massage apparatus includes a shorts-pressurizing portion including a left shorts portion, which includes a plurality of air chambers extending in a longitudinal direction of the wearer's legs and which has a right side open from a top of a crotch, and a right shorts portion, which includes a plurality of longitudinal air chambers extending in the longitudinal direction of the wearer's legs and has a left side open from the top of the crotch, wherein the open right side of the left shorts portion and the open left side of the right shorts portion are coupled along an end; and an air injection adjustment portion configured to inject air to or discharge air from each of the longitudinal air chambers to allow the longitudinal air chambers to expand or contract.

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.

A device for mobilizing the human osteo-musculotendinous system, including a kneepad arranged to cover a knee of a human user so as to keep the knee in the kneepad, and arranged to exert, on the knee covered by the kneepad, a mobilizing force, the mobilizing force applying pressure to the knee and being directed towards a bearing surface arranged so that the user's pelvis can bear against said surface and a means for increasing the mobilizing force.

Provided is an artificial muscle device, including a plurality of heat transfer modules including a thermal conductive body in which a plurality of tunnels parallel to each other and a thermoelectric element contacting an outer surface of the thermal conductive body, a connection member connecting a first heat transfer module to a second heat transfer module, the connection member being folded or unfolded according to a distance between the first heat transfer module and the second heat transfer module, a thermal reaction driving member passing through each of the tunnels, the thermal reaction driving member being stretched or contracted in a longitudinal direction of the tunnel according to a temperature of the thermal reaction driving member, and a power transmission part connected to an end of the thermal reaction driving member.

A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.

The present disclosure is applicable to the technical field of massage apparatuses, and provides a massage waist pillow. The waist pillow main body includes a sponge waist pillow main body, a massage unit and an air bag; a groove is reserved in an area of the sponge waist pillow main body close to the back of the waist of a user; a support plate is arranged in the groove; the air bag is arranged at a bottom of the groove and is mounted on the support plate; the massage unit is arranged in the groove and above the air bag; and the air bag is located in an interlayer between the massage unit and the support plate.

A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.