Abstract: The present invention relates to a robotic system useful to unload an object/person from its weight. The robotic system is useful in locomotor rehabilitation programs and allows the manipulation of forces in a three-dimensional space with far lower actuator requirements and a much higher precision than prior-art systems. The apparatus combines passive and active elements to minimize actuation requirements while still keeping inertia to a minimum and control precision to a maximum. It requires minimal actuators and at the same time has a low inertia.

Abstract: An energy storing prosthetic knee actuator and method of using such an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder with a piston and a piston rod, wherein the piston and the hydraulic or pneumatic cylinder are movable with respect to each other, an energy storage accumulator and a control valve provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator for controlling an exchange of fluid or gas between the accumulator and the cylinder, wherein the cylinder and the piston are connected to a user's upper leg and lower leg respectively or vice versa, and wherein the actuator is arranged to close the control valve when the user is sitting down and to open the control valve when the user is going to stand or is standing up.

Abstract: The invention relates to an apparatus and method for unloading a user's body weight during a physical activity of said user, particularly for gait training of said user, comprising: a plurality of ropes, wherein each rope extends from an associated drive unit, is deflected by a passively displaceable deflection device, e.g. a device that is displaceable by means of the forces in the deflected ropes, and then runs to a first free end of the respective rope, and a node being coupled to said first free ends and being designed to be coupled to said user, wherein the drive units are designed to retract and release the respective rope so as to adjust a current rope force along the respective rope, which current rope forces add up to a current resulting force exerted on said user via said node in order to unload the user upon said physical activity.

Abstract: An energy storing prosthetic knee actuator and method of using such an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder with a piston and a piston rod, wherein the piston and the hydraulic or pneumatic cylinder are movable with respect to each other, an energy storage accumulator and a control valve provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator for controlling an exchange of fluid or gas between the accumulator and the cylinder, wherein the cylinder and the piston are connected to a user's upper leg and lower leg respectively or vice versa, and wherein the actuator is arranged to close the control valve when the user is sitting down and to open the control valve when the user is going to stand or is standing up.

Abstract: The invention relates to an apparatus (1) for unloading a user's body weight during a physical activity of said user (4), particularly for gait training of said user (4), comprising: a plurality of ropes (41, 42, 43, 44), wherein each rope (41, 42, 43, 44) extends from an associated drive unit (510, 520, 530, 540), is deflected by a passively displaceable deflection device, e.g.

Abstract: A method to control a robot device that includes at least one manipulator which is moveable in an operating space, at least one actuator which actuates the manipulator, a sensor arrangement having at least one position sensor to determine the actual position of the manipulator and a controller which controls the actuator. The manipulator moves along an actual trajectory by means of an external force provided by an operator. The actuator provides compensation forces onto the manipulator influencing the torques or forces exchanged between operator and manipulator. The controller includes a conservative force field module having a conservative force field. The controller provides control signals for the actuator which provides the compensation force based on the control signals. The control signals are based on the conservative force field and on the actual position of the manipulator.

Abstract: A method to control a robot device that includes at least one manipulator which is moveable in an operating space, at least one actuator which actuates the manipulator, a sensor arrangement having at least one position sensor to determine the actual position of the manipulator and a controller which controls the actuator. The manipulator moves along an actual trajectory by means of an external force provided by an operator. The actuator provides compensation forces onto the manipulator influencing the torques or forces exchanged between operator and manipulator. The controller includes a conservative force field module having a conservative force field. The controller provides control signals for the actuator which provides the compensation force based on the control signals. The control signals are based on the conservative force field and on the actual position of the manipulator.