An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.

A method for controlling a robotic walking assistant that includes a wheeled base having one or more wheels, two handles and a foldable seat that are coupled to the wheeled base, includes: detecting whether two hands of a user have held the two handles of the robotic walking assistant; receiving a command from the user to select an operation mode in response to detection of the two hands holding the two handles; controlling the wheeled base to move in response to a walking assistive mode being selected; providing resistance to at least one of the one or more wheels according to selection of the user, in response to a walking training mode being selected; and locking the one or more wheels in response to a static training mode being selected.

A robotic walking assistant includes a wheeled base having a base and one or more position adjustable wheels connected to the base, a body disposed in a vertical direction, positioned on the wheeled base and having a handle, and a control system that receives command instructions. Each of the one or more wheels is slidable with respect to the base between a retracted position and an extended position in a direction that is substantially parallel to a surface where the wheeled base moves. In response to the command instructions, the control system moves the one or more wheels between the retracted positions and the extended positions.

A health care device includes a health care body for positioning a body part of a user, so as to maintain a first specific positional relationship with the body part, wherein the body part has an acupoint; an acupoint work piece for performing a health care work onto the use through the acupoint; and a work piece holder having a first end connected to the health care body and a second end for fixing the acupoint work piece, so that under the first specific positional relationship, the acupoint work piece performs the health care work under the condition that the acupoint work piece has a second specific positional relationship with the acupoint. A health care body, method and system are also provided.

An exercise apparatus includes a linear arm portion having an elongate arm member with proximal and distal ends and an elongate support member having proximal and distal ends. The arm member can be slidably mounted to the support member by a sliding joint. A linear arm brake assembly can be coupled to the arm member for resisting linear motion of the arm member. A torso portion can be included to which the linear arm portion is rotatably mounted about a second axis by rotary shoulder joint. The linear arm portion can be configured, and the rotary shoulder joint can be positioned along the length of the support member at a location that substantially balances the linear arm portion about the rotary shoulder joint at least when the arm member is in the retracted position.

A walking training device according to the present embodiment includes: a robot leg attached to one leg of a trainee; a treadmill; a load distribution sensor that detects a distribution of a load received from a sole of the trainee riding on the belt of the treadmill; and a walking state determination unit that determines whether the one leg has switched from a standing state to a swinging state based on a state of increase in a load detected by the load distribution sensor and received from another leg of the trainee performing walking training; and a control unit that starts bending control for the swinging state of the robot leg when the walking state determination unit determines that the one leg has switched from the standing state to the swinging state.

A smart walking assistance device with a walker frame having generally vertical sides and an intersecting front. Wheels located at both ends of a bottom edge of the sides. A soft robotic sensing handle extends in a C shape along the upper edges of the sides and front. The sensing handle has multiple contiguous air filled chambers, each containing a pressure sensor for producing a pressure signal representing the pressure within the chamber. A microcontroller unit receives the pressure signals from the pressure sensors of the handle chambers and determines the status of at least one of the device and a user of the device based on the pressure signals. A stabilization mechanism is driven by the microcontroller so as to stabilize the walker in response to the determined status of at least one of the walker and the user.

A massage motion control method, a robot controller using the same, and a storage medium are provided. The method includes: calculating a robot end desired speed and a robot end desired angular speed corresponding to a desired massage trajectory of a massage robot to compensate using two obtained robot end compensation amounts in the case that the desired massage trajectory for a target massage area at a current control cycle, a robot end speed compensation amount meeting a desired massage intensity requirement, and a robot end angular speed compensation amount adapted to an environmental curvature of the target massage area are obtained, and controlling the massage robot by determining a corresponding to-be-outputted joint angle based on motion parameter(s) obtained by the compensation. In this manner, the adaptive change of the massage position and the massage intensity for the massage area of the patient can be realized.

Navigation of a mobility aid robot having a camera and gripping part(s) disposed toward different directions is disclosed. The mobility aid robot is navigated to approach a user by identifying a posture of the user through the camera, determining a mode of the robot according to a type of the specified task to be performed on the user and the identified posture of the user, controlling the robot to move according to a planned trajectory corresponding to the determined mode of the robot, and turning the robot upon reaching the desired pose such that the gripping part faces the user, in response to the determined mode of the robot corresponding to the specified task of an assisting type and the user at one of a standing posture and a sitting posture.

The present invention discloses a soft knee exoskeleton driven by a negative-pressure linear actuator, including: an exoskeleton controller, a left leg knee joint soft actuator, a right leg knee joint soft actuator and the like. The soft knee exoskeleton mainly uses a miniature vacuum negative pressure pump as an air pressure power source. A DSP embedded control system performs real-time processing on the data, such as a muscle force, a knee joint angle and a human-machine interaction force, detected by a sensing system, estimates a human-machine cooperation state, and performs real-time control on the switching of the negative pressure flow and an air channel of the miniature vacuum negative pressure pump.