Abstract: A steerable guide. In an embodiment, the steerable guide comprises a needle, a shaft, a spring housing, and a translational screw. The needle comprises a wire tube and a wire configured to curve the needle when retracted relative to the wire tube. The wire tube is connected to the distal end of the shaft, and the wire is connected to the distal end of the spring housing. The screw extends into a cavity within the shaft, and is configured to move along a longitudinal axis. A spring is positioned within the cavity, between the proximal end of the spring housing and the distal end of the screw. Thus, when the screw moves in the proximal direction while a position of the spring housing is fixed by the wire, the spring is compressed between the proximal end of the spring housing and the distal end of the translational screw.

Abstract: A steerable guide. In an embodiment, the steerable guide comprises a needle, a shaft, a spring housing, and a translational screw. The needle comprises a wire tube and a wire configured to curve the needle when retracted relative to the wire tube. The wire tube is connected to the distal end of the shaft, and the wire is connected to the distal end of the spring housing. The screw extends into a cavity within the shaft, and is configured to move along a longitudinal axis. A spring is positioned within the cavity, between the proximal end of the spring housing and the distal end of the screw. Thus, when the screw moves in the proximal direction while a position of the spring housing is fixed by the wire, the spring is compressed between the proximal end of the spring housing and the distal end of the translational screw.

Abstract: A robotic gait rehabilitation (RGR) training system is provided to address secondary gait deviations such as hip-hiking. An actuation assembly follows the natural motions of a user's pelvis, while applying corrective moments to pelvic obliquity. A human-robot interface (HRI), in the form of a lower body exoskeleton, is provided to improve the transfer of corrective moments to the pelvis. The system includes an impedance control system incorporating backdrivability that is able to modulate the forces applied onto the body depending on the patient's efforts. Various protocols for use of the system are provided.