Abstract: A wearable robotic device includes a hip-mounted, powered exoskeleton, an adjustable vest coupled to the exoskeleton, a power source for powering the exoskeleton, a computing device for controlling the robotic device and determining when to activate the powered exoskeleton. The exoskeleton includes a pair of motor units configurable between a first powered mode wherein the exoskeleton assists in extending the user’s hip and a second free mode wherein the user is able to freely extend or contract the hip.

Abstract: A wearable passive exoskeleton device for sit-to-stand and/or stand-to-sit transfer includes a leg exoskeleton frame configured to be worn at a user's leg and a lever arm rotatably coupled to the leg exoskeleton frame so as to provide a handle for the user to move between a sitting position and a standing position (or between a kneeling position and a standing position). The lever arm is rotatable with respect to the leg exoskeleton frame between a stowed position and a deployed position. The lever arm may be a unidirectional lever arm configured to rotate only in a first rotational direction with respect to the leg exoskeleton frame such that a pushing or pulling force exerted in a second rotational direction transmits an assisting force to the user to assist in a sit-to-stand and/or stand-to-sit movement.

Abstract: A hip assist actuation system is configured to allow a user to experience free movement of hip extension and hip flexion over a predetermined range and receive a torque assist in response to performing a lifting or pushing activity. The hip assist actuation system may be configured to determine whether the lifting or pushing activity is occurring and provide the torque assist in response to the determination.

Abstract: A device can comprise a force actuation system at least partially disposed in a shoe assembly. The force actuation system can be a passive or active actuation system. The force actuation system can be configured to determine the foot pressure during use of the device. The device can further comprise a force indication system including a plurality of force sensors and a light array, each force sensor disposed in an insole assembly and the light array mounted to the person.

Abstract: An orthosis for increasing a range of motion of an ankle is disclosed. In various embodiments, the orthosis includes a frame including a ball shell and a heel shell; a first actuator disposed on the ball shell and configured to apply a first force against a ball region of a foot, resulting in a moment being applied at the ankle; and a first rod connecting the heel shell and the ball shell, the first rod being slidably connected to at least one of the heel shell or the ball shell. In various embodiments, a second actuator is disposed on the heel shell and configured to apply a second force against a heel region of the foot. In various embodiments, a calf shell is configured to support a calf region of a leg that is connected to the ankle.

Abstract: A soft wearable medical device may comprise a force actuation system at least partially disposed in a glove assembly. The force actuation system may be a passive or active actuation system. The force actuation system may be configured to adjust a grip of a patient during use of the soft wearable medical device. The soft wearable medical device may further comprise a force indication system including a plurality of force sensors and a light array, each force sensor disposed in a finger of the glove assembly and the light array mounted to the glove assembly.

Abstract: A soft wearable medical device may comprise a soft compliant pumpactuator or actuators at least partially disposed in a glove assembly. Responsive to a detection of a tremor, such as an ataxia tremor, an actuator at least partially inflates to provide a stabilizing counterforce and reduce or eliminate the tremor.

Abstract: An orthosis for increasing a range of motion of an ankle is disclosed. In various embodiments, the orthosis includes a frame including a ball shell and a heel shell; a first actuator disposed on the ball shell and configured to apply a first force against a ball region of a foot, resulting in a moment being applied at the ankle; and a first rod connecting the heel shell and the ball shell, the first rod being slidably connected to at least one of the heel shell or the ball shell. In various embodiments, a second actuator is disposed on the heel shell and configured to apply a second force against a heel region of the foot. In various embodiments, a calf shell is configured to support a calf region of a leg that is connected to the ankle.

Abstract: Disclosed herein are various embodiments of a soft robotic device for assisting hemiparetic patients. In embodiments, the soft robotic device includes an inflatable actuator capable of assisting hemiparetic patients with their gait cycle via application of a force on the gluteus muscle.

Abstract: A method for harvesting energy from ankle motion includes coupling a generator module across an ankle joint, the generator module including a generator and an elastic member. The generator is affixed to the leg shank and at least one of the generator and the elastic member is continuously coupled to the foot across the ankle joint. Energy may be harvested in the elastic member while generating electricity with the generator from motion of the ankle joint. Alternatively, or in addition, electricity may be generated with the generator from energy harvested in the elastic member after the energy is harvested.

Abstract: The present invention is a mechanical element, commonly referred to as a “Jack Spring” that is based upon the concept of adding and subtracting coils from a spring. In particular, with the method and apparatus of the present invention, by changing the number of coils in a spring, the actual or intrinsic stiffness of the spring is structurally changed. A very simple and practical method is used to adjust the number of coils. The Jack Spring actuator of the present invention is based upon adjusting the effective structure of a spring.

Abstract: A method for harvesting energy from ankle motion includes coupling a generator module across an ankle joint, the generator module including a generator and an elastic member. The generator is affixed to the leg shank and at least one of the generator and the elastic member is continuously coupled to the foot across the ankle joint. Energy may be harvested in the elastic member while generating electricity with the generator from motion of the ankle joint. Alternatively, or in addition, electricity may be generated with the generator from energy harvested in the elastic member after the energy is harvested.

Abstract: The present invention is a mechanical element, commonly referred to as a “Jack Spring” that is based upon the concept of adding and subtracting coils from a spring. In particular, with the method and apparatus of the present invention, by changing the number of coils in a spring, the actual or intrinsic stiffness of the spring is structurally changed. A very simple and practical method is used to adjust the number of coils. The Jack Spring actuator of the present invention is based upon adjusting the effective structure of a spring.

Abstract: The present invention is a mechanical element, commonly referred to as a “Jack Spring” that is based upon the concept of adding and subtracting coils from a spring. In particular, with the method and apparatus of the present invention, by changing the number of coils in a spring, the actual or intrinsic stiffness of the spring is structurally changed. A very simple and practical method is used to adjust the number of coils. The Jack Spring actuator of the present invention is based upon adjusting the effective structure of a spring.

Abstract: Constant force mechanisms and adjustable constant force mechanisms are described having two movable sliders constrained along two perpendicular axes and each abutting a resilient member. The mechanisms are adapted to produce an output force that is constant for a given input force. However, when an equilibrium position of one of the two resilient members is adjusted for a given mechanism, a different output force will result. Micro-compliant mechanisms are also described in which the resilient members may be made from one or more different elastomers.

Abstract: The present invention is a spring based actuator with a leaf spring having a length, width and thickness and a coil spring positioned over the leaf spring. The coil spring further comprises: a first end; a second end; and at least one force generator acting on either the first end of the coil spring and the second end of the coil spring to deflect the coil spring and the leaf spring.

Abstract: The present invention is a mechanical element, commonly referred to as a “Jack Spring” that is based upon the concept of adding and subtracting coils from a spring. In particular, with the method and apparatus of the present invention, by changing the number of coils in a spring, the actual or intrinsic stiffness of the spring is structurally changed. A very simple and practical method is used to adjust the number of coils. The Jack Spring actuator of the present invention is based upon adjusting the effective structure of a spring.

Abstract: Pneumatic muscles capable of delivering bi-directional forces are described having an actuator with a tube or bladder surrounded by a braided material mounted in parallel with a resilient spring. When the bladder is pressurized with a pneumatic source, it expands, and its length contracts. During the contraction cycle, the resilient spring is compressed and stores energy until subsequently released, which corresponds when the pressure in the bladder is released. As the spring expands, it produces an expansion force. The contraction and expansion forces are controllable using a number of configurations, including changing the equilibrium position of the resilient spring, using a different rated bladder, and using different initial pressure.

Abstract: The present invention is a spring based actuator with a leaf spring having a length, width and thickness and a coil spring positioned over the leaf spring. The coil spring further comprises: a first end; a second end; and at least one force generator acting on either the first end of the coil spring and the second end of the coil spring to deflect the coil spring and the leaf spring.

Abstract: Constant force mechanisms and adjustable constant force mechanisms are described having tow movable sliders constrained along two perpendicular axes and each abutting a resilient member. The mechanisms are adapted to produce an output force that is constant for a given input force. However, when an equilibrium position of one of the two resilient members is adjusted for a given mechanism, a different output force will result. Micro-compliant mechanisms are also described in which the resilient members may be made from one or more different elastomers.