Abstract: Methods of enabling locomotor control, postural control, voluntary control of body movements (e.g., in non-weight bearing conditions), and/or autonomic functions in a human subject having a spinal cord injury, a brain injury, or a neurological neuromotor disease are described.

Abstract: A ballistically launched foldable multirotor vehicle has a central body frame. A battery is located in an upper vertical location of the vehicle and positions a center of mass of the vehicle to provide aerodynamic stability during a launch. Fins are attached to the central body frame such that aerodynamic forces on the fins shift an aerodynamic center (AC) of the vehicle downward below the center of mass of the vehicle. Three or more foldable arms are attached to the central body frame via a hinge and exist in two states—a closed state where the foldable arms are parallel to a central body axis, and an open state (after launch) where the foldable arms extend radially outward perpendicular to the central body axis. Rotors mounted to each foldable arm are controlled by a motor to enable flight.

Abstract: Methods of enabling locomotor control, postural control, voluntary control of body movements (e.g., in non-weight bearing conditions), and/or autonomic functions in a human subject having a spinal cord injury, a brain injury, or a neurological neuromotor disease are described.

Abstract: Methods comprising applying electrical stimulation to patients in conjunction with physical training are described.

Abstract: A ballistically launched foldable multirotor vehicle has a central body frame. A battery is located in an upper vertical location of the vehicle and positions a center of mass of the vehicle to provide aerodynamic stability during a launch. Fins are attached to the central body frame such that aerodynamic forces on the fins shift an aerodynamic center (AC) of the vehicle downward below the center of mass of the vehicle. Three or more foldable arms are attached to the central body frame via a hinge and exist in two states—a closed state where the foldable arms are parallel to a central body axis, and an open state (after launch) where the foldable arms extend radially outward perpendicular to the central body axis. Rotors mounted to each foldable arm are controlled by a motor to enable flight.

Abstract: A planetary gearbox including a first sun gear; a first ring gear; a first set of planet gears meshing with the first sun gear and the first ring gear; a second sun gear; a second ring gear; a second plurality of planet gears meshing with the second ring gear and the second sun gear, wherein the ith gear in the first set of planet gears is fixed to the ith gear in the second set of planet gears so that the gears in the first set and the second set rotate together coaxially. The resulting planetary gearbox can be readily integrated into compact robotic joints. Its few lightweight components can be manufactured with high accuracy with standard machining techniques.

Abstract: A system, method, and apparatus for identifying optimal or near optimal complex stimulation waveforms for a neurostimulator device or neuromodulation device are disclosed. An example method includes using a dueling bandits algorithm with correlation among stimulation arms to select a batch of stimulation arms for sequential application to a patient during a therapy session. Each of the stimulation arms specifies complex stimulation waveform parameter values. Feedback from applying the stimulation arms to the patient is recorded and used to update feedback reward values corresponding to at least some of the stimulation arms using a stimulation arm correlation index. A second batch of stimulations arms is selected based upon the updated feedback reward values and applied to a patient. The method is iteratively repeated over a number of therapy sessions until an optimal or near optimal batch of stimulation arms (defining complex stimulation waveforms) is determined.

Abstract: Neurostimulator devices are described. An example neurostimulator device includes a stimulation assembly connectable to a plurality of electrodes, wherein the plurality of electrodes are configured to stimulate a spinal cord. The neurostimulator device also includes an interface and at least one processor configured to modify at least one complex stimulation pattern deliverable by the plurality of electrodes by integrating data from the interface and performing a machine learning algorithm on the at least one complex stimulation pattern.

Abstract: A system, method, and apparatus for identifying optimal or near optimal complex stimulation waveforms for a neurostimulator device or neuromodulation device are disclosed. An example method includes using a dueling bandits algorithm with correlation among stimulation arms to select a batch of stimulation arms for sequential application to a patient during a therapy session. Each of the stimulation arms specifies complex stimulation waveform parameter values. Feedback from applying the stimulation arms to the patient is recorded and used to update feedback reward values corresponding to at least some of the stimulation arms using a stimulation arm correlation index. A second batch of stimulations arms is selected based upon the updated feedback reward values and applied to a patient. The method is iteratively repeated over a number of therapy sessions until an optimal or near optimal batch of stimulation arms (defining complex stimulation waveforms) is determined.

Abstract: Methods are described comprising: administering to a mammal with a paralysis an electrical enabling motor control stimulation to at a sub-threshold location, wherein the electrical enabling motor control stimulation provides spontaneous voluntary movement of at least one body part.

Abstract: A planetary gearbox including a first sun gear; a first ring gear; a first set of planet gears meshing with the first sun gear and the first ring gear; a second sun gear; a second ring gear; a second plurality of planet gears meshing with the second ring gear and the second sun gear, wherein the ith gear in the first set of planet gears is fixed to the ith gear in the second set of planet gears so that the gears in the first set and the second set rotate together coaxially. The resulting planetary gearbox can be readily integrated into compact robotic joints. Its few lightweight components can be manufactured with high accuracy with standard machining techniques.

Abstract: Neurostimulator devices are described. An example neurostimulator device includes a stimulation assembly connectable to a plurality of electrodes, wherein the plurality of electrodes are configured to stimulate a spinal cord. The neurostimulator device also includes an interface and at least one processor configured to modify at least one complex stimulation pattern deliverable by the plurality of electrodes by integrating data from the interface and performing a machine learning algorithm on the at least one complex stimulation pattern.

Abstract: Methods comprising applying electrical stimulation to patients in conjunction with physical training are described.

Abstract: Neurostimulator devices are described comprising: a stimulation assembly connectable to a plurality of electrodes, wherein the plurality of electrodes are configured to stimulate a spinal cord; one or more sensors; and at least one processor configured to modify at least one complex stimulation pattern deliverable by the plurality of electrodes by integrating data from the one or more sensors and performing a machine learning method implementing a Gaussian Process Optimization on the at least one complex stimulation pattern. Methods of use are also described.

Abstract: Methods of enabling locomotor control, postural control, voluntary control of body movements (e.g., in non-weight bearing conditions), and/or autonomic functions in a human subject having spinal cord injury, brain injury, or neurological neuromotor disease are described.

Abstract: An implantable electrode array assembly configured to apply electrical stimulation to the spinal cord. A substantially electrically nonconductive layer of the device has a first portion positionable alongside the spinal cord that includes a plurality of first openings. The layer has a second portion that includes a plurality of second openings. Electrodes and traces are positioned inside a peripheral portion of a body portion of the device and alongside the layer. At least one of the first openings is adjacent each of the electrodes to provide a pathway through which the electrode may provide electrical stimulation to the spinal cord. At least one of the second openings is adjacent each of the traces to provide a pathway through which the trace may receive electrical stimulation. At least one trace is connected to each electrode and configured to conduct electrical stimulation received by the trace(s) to the electrode.

Abstract: Neurostimulator devices and methods of using these devices are described. The neurostimulator devices can include a stimulation assembly connectable to a plurality of electrodes; one or more sensors; and at least one processor configured to modify at least one complex stimulation pattern.

Abstract: An implantable electrode array assembly configured to apply electrical stimulation to the spinal cord. A substantially electrically nonconductive layer of the device has a first portion positionable alongside the spinal cord that includes a plurality of first openings. The layer has a second portion that includes a plurality of second openings. Electrodes and traces are positioned inside a peripheral portion of a body portion of the device and alongside the layer. At least one of the first openings is adjacent each of the electrodes to provide a pathway through which the electrode may provide electrical stimulation to the spinal cord. At least one of the second openings is adjacent each of the traces to provide a pathway through which the trace may receive electrical stimulation. At least one trace is connected to each electrode and configured to conduct electrical stimulation received by the trace(s) to the electrode.

Abstract: Described are devices including stimulation assemblies connectable to a plurality of electrodes. The plurality of electrodes can be configured to connect to a spinal cord at a location below a lesion of the spinal cord. The stimulation assembly can be configured to deliver stimulation to selected ones of the plurality of electrodes when the stimulation assembly is connected to the plurality of electrodes when located below the lesion of the spinal cord. Methods of using the devices are also described.

Abstract: Methods are described comprising: administering to a mammal with a paralysis an electrical enabling motor control stimulation to at a sub-threshold location, wherein the electrical enabling motor control stimulation provides spontaneous voluntary movement of at least one body part.