Abstract: An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.

Abstract: An exoskeleton includes first and second supports coupled to an exoskeleton wearer, a joint connecting the first support to the second support and an actuator. The actuator includes a ball screw, a ball nut assembly coupled to the ball screw and first and second tensile members. The ball nut assembly has first and second cord reactors. The first tensile member is routed through the first cord reactor, and the second tensile member is routed through the second cord reactor. Movement of the ball nut assembly along the ball screw in a first direction causes the second support to move relative to the first support in a first rotational direction about the joint. Movement of the ball nut assembly along the ball screw in a second direction causes the second support to move relative to the first support in a second rotational direction about the joint.

Abstract: An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.

Abstract: An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.

Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

Abstract: A key that includes a body with an optically transmissive or light permeable region and an optical film coupled to or carried by the light permeable region is disclosed. The key also includes a resilient structure coupled to the body. The key can be assembled or coupled to, or disposed relative or adjacent to, a display screen. The key also includes a switch actuator (e.g., an electromechanical switch actuator or contact element). Displacement of the key, more specifically the body of the key, displaces the switch actuator for actuating a switch. The resilient structure is configured to bias the body at a first position. The body can be actuated or displaced from the first position to a second position for effectuating corresponding displacement of the switch actuator and actuation of the switch. The resilient structure provides a positive tactile feedback upon user-directed or user-controlled actuation or displacement of the body.

Abstract: An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.

Abstract: An exoskeleton includes first and second supports coupled to an exoskeleton wearer, a joint connecting the first support to the second support and an actuator. The actuator includes a ball screw, a ball nut assembly coupled to the ball screw and first and second tensile members. The ball nut assembly has first and second cord reactors. The first tensile member is routed through the first cord reactor, and the second tensile member is routed through the second cord reactor. Movement of the ball nut assembly along the ball screw in a first direction causes the second support to move relative to the first support in a first rotational direction about the joint. Movement of the ball nut assembly along the ball screw in a second direction causes the second support to move relative to the first support in a second rotational direction about the joint.

Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.

Abstract: A key that includes a body with an optically transmissive or light permeable region and an optical film coupled to or carried by the light permeable region is disclosed. The key also includes a resilient structure coupled to the body. The key can be assembled or coupled to, or disposed relative or adjacent to, a display screen. The key also includes a switch actuator (e.g., an electromechanical switch actuator or contact element). Displacement of the key, more specifically the body of the key, displaces the switch actuator for actuating a switch. The resilient structure is configured to bias the body at a first position. The body can be actuated or displaced from the first position to a second position for effectuating corresponding displacement of the switch actuator and actuation of the switch. The resilient structure provides a positive tactile feedback upon user-directed or user-controlled actuation or displacement of the body.

Abstract: A key that includes a body with an optically transmissive or light permeable region and an optical film coupled to or carried by the light permeable region. The key also includes a resilient structure coupled to the body. The key can be assembled or coupled to, or disposed relative or adjacent to, a display screen. The key also includes a switch actuator (e.g., an electromechanical switch actuator or contact element). Displacement of the key, more specifically the body of the key, displaces the switch actuator for actuating a switch. The resilient structure is configured to bias the body at a first position. The body can be actuated or displaced from the first position to a second position for effectuating corresponding displacement of the switch actuator and actuation of the switch. The resilient structure provides or establishes a positive tactile feedback upon user-directed or user-controlled actuation or displacement of the body.

Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.

Abstract: A key that includes a body with an optically transmissive or light permeable region and an optical film coupled to or carried by the light permeable region. The key also includes a resilient structure coupled to the body. The key can be assembled or coupled to, or disposed relative or adjacent to, a display screen. The key also includes a switch actuator (e.g., an electromechanical switch actuator or contact element). Displacement of the key, more specifically the body of the key, displaces the switch actuator for actuating a switch. The resilient structure is configured to bias the body at a first position. The body can be actuated or displaced from the first position to a second position for effectuating corresponding displacement of the switch actuator and actuation of the switch. The resilient structure provides or establishes a positive tactile feedback upon user-directed or user-controlled actuation or displacement of the body.

Abstract: A computer has a display, keyboard and two main component parts. The components each have an L-shape and are linked together to enable sliding movement in substantially one plane in a first direction. The linkage also enables movement orthogonally with respect to the first direction in another plane, such that the components transition from a closed position of the computer in which the components interfit together to form a first right rectangular prism and in which the display is exposed, to an open position having a second right rectangular prism shape in which the keyboard is exposed adjacent to and in the same plane as the display.

Abstract: A computer has a display, keyboard and two main component parts. The components each have an L-shape and are linked together to enable sliding movement in substantially one plane in a first direction. The linkage also enables movement orthogonally with respect to the first direction in another plane, such that the components transition from a closed position of the computer in which the components interfit together to form a first right rectangular prism and in which the display is exposed, to an open position having a second right rectangular prism shape in which the keyboard is exposed adjacent to and in the same plane as the display.

Abstract: A computer has a display, keyboard and two main component parts. The components each have an L-shape and are linked together to enable sliding movement in substantially one plane in a first direction. The linkage also enables movement orthogonally with respect to the first direction in another plane, such that the components transition from a closed position of the computer in which the components interfit together to form a first right rectangular prism and in which the display is exposed, to an open position having a second right rectangular prism shape in which the keyboard is exposed adjacent to and in the same plane as the display.