A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.

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 passive load balancer (1) having a flexible transmission element (60) connected to a hinged arm (10) and to a resilient element (40), a first flexible transmission element deflector (50), and a second flexible element deflector (51), the second flexible element deflector (51) being connected to the structure (2). An exoskeleton including a passive load balancer.

In a soft actuator, a soft actuator assembly having the soft actuator, and a wearable robot having the soft actuator or the soft actuator assembly, the soft actuator includes a first spring bundle, a first conductive pad and a second conductive pad. The first spring bundle has a plurality of fine wires, and is configured to be capable of being changed between a contraction state and a relaxation state according to a change of temperature. The first conductive pad has a first connector electrically connected to a first end of the first spring bundle. The second conductive pad has a second connector electrically connected to a second end of the first spring bundle. The first connector is fixed between the first conductive pad and the first spring bundle, and the second connector is fixed between the second conductive pad and the first spring bundle.

An exoskeleton comprising a right hip attachment, a left hip attachment, a belt and a leaf-spring. The leaf-spring configured to couple two hips and apply torque from one respective hip to another respective hip based on the runner's movement and a right gear mechanism and a left gear mechanism, the right gear mechanism and the left gear mechanism comprising respectively of rack-and-pinion mechanism and configured to change an arch of the leaf-spring.

A humanoid robot balance control method, a humanoid robot, and a storage medium are provided. The method includes: obtaining a task equation of each of a plurality of deconstructed tasks in a corresponding control cycle by solving a plurality of deconstructed task models using a relevant actual state and a corresponding expected state of the humanoid robot; calculating an optimal solution of a multi-task error optimization function based on each task equation; and generating a joint control instruction of the corresponding control cycle based on the optimal solution in response to the optimal solution being obtained within the corresponding control cycle so as to control corresponding joint(s) to execute the tasks. In such manner, it can ensure that the robot satisfies the necessary constraints while executing multiple tasks, and also comprehensively considers the errors of all the tasks to ensure the execution of all the tasks.

A chairless chair exoskeleton in order to provide seating support to the user while the user is standing particularly in industrial field includes at least one foot connection element for being connected to the foot of the user and at least one calf support element connected to said foot connection element, and at least one thigh support element connected to said calf support element by means of at least one joint and at least one energy storage element associated to the thigh support element from one side and associated to the calf support element from the other side.

The inventive concept relates to a wearable hand robot mounted on a finger to bend the finger by an external force transmitted through a wire. The wearable hand robot is capable of preventing an injury to a user's hand by the wire, achieving simplification of the structure of a finger cap and an improvement in a wearing sensation, and stably moving the finger while having a tactile sensation.

A clutch mechanism includes a spool that is configured to receive a cable, a disk with elasticity, a mechanism configured for locking and unlocking the movement of the disk, and at least one sensor. The at least one sensor being configured to measure the movement of at least one of the disk and the spool in the unlocked mode and to measure the movement of the spool relative to the disk when in a locked mode.

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.