Abstract: A mechanical actuator system has variable and controllable mechanical impedance. Such a mechanical actuator system may be used to effectuate a degree of freedom in a robot, i.e., to control speed, output torque and direction of movement of a robotic component, such as a joint, wheel, arm, wrist or grabber. Mechanical impedance, i.e., an amount of “resistance” the robot presents to a human user, can be controlled for safety and rehabilitation purposes. The mechanical actuator system includes a mechanical differential and two adjustable-engagement clutches driven by motor. Advantageously, the motor may turn at a constant speed and direction, yet the mechanical actuator system can be controlled to turn in either direction and at a desired speed. The adjustable-engagement clutches may be electrorheological (ER) fluid clutches, magnetorheological (MR) fluid clutches, conventional dry friction clutches or any other type of clutch whose degrees of engagement can be controlled.

Abstract: A mechanical actuator system has variable and controllable mechanical impedance. Such a mechanical actuator system may be used to effectuate a degree of freedom in a robot, i.e., to control speed, output torque and direction of movement of a robotic component, such as a joint, wheel, arm, wrist or grabber. Mechanical impedance, i.e., an amount of “resistance” the robot presents to a human user, can be controlled for safety and rehabilitation purposes. The mechanical actuator system includes a mechanical differential and two adjustable-engagement clutches driven by motor. Advantageously, the motor may turn at a constant speed and direction, yet the mechanical actuator system can be controlled to turn in either direction and at a desired speed. The adjustable-engagement clutches may be electrorheological (ER) fluid clutches, magnetorheological (MR) fluid clutches, conventional dry friction clutches or any other type of clutch whose degrees of engagement can be controlled.

Abstract: A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation.

Abstract: A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation.

Abstract: A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation.

Abstract: A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation.

Abstract: Wrist and upper extremity motion systems and method may include positioning a subject's wrist or upper extremity in a motion device, and actuating one or more motors associated with the device to provide at least one of assistance, perturbation, and resistance to a wrist or upper extremity motion.

Abstract: A robotic device for use in conjunction with an imaging system and an imaging method is provided. The robotic device can provide mechanical measurements within the imaging system, and can also control the mechanical environment within the imaging system. An end effector of the robotic device engages a body segment of the patient. In addition, position and force sensors are associated with the robotic device such that the position and forces applied to the end effector can be sensed/measured and recorded, while images are obtained. In addition, the robotic device includes actuators to move the end effector to a desired position, and/or to provide a force to a body segment of a patient by way of the end effector. In a particularly preferred form, structural, sensory, and actuator components of the robotic device are magneto-translucent, such that the robotic device can control and/or provide measured information regarding the mechanical environment within a magnetic resonance imaging system.