Abstract: The present invention relates to a method and an apparatus for transmitting control and training symbols to improve transmission efficiency in a multi-user wireless communication system. The method for transmitting the control and training symbols in the multi-user wireless communication system according to one embodiment of the present invention comprises the steps of: determining whether a required transmission rate of each data can be satisfied through channel estimation in each of terminals when different data are simultaneously transmitted to each of the terminals; and transmitting a data frame to each of the terminals, the data frame being composed to discriminate the control and training symbols in each of the terminals using a combination of time, frequency, and code area when the required transmission rate of each data is not satisfied according to the determined result.

Abstract: A wearable assistive device such as an exoskeleton may include a main frame that support a hip joint of a user. The main frame may have a predetermined curvature and structure that closely conforms to and remains in contact with a hip of the user at or near the hip joint so that the main frame may stably support both hip joints. While the user wears the exoskeleton and walks, bends, or lifts, the exoskeleton may stably and efficiently provide a force to assist a movement originating at the hip joint of the user, thereby aiding the user in stably walking, bending, or lifting.

Abstract: A wearable assistive device may include a main frame provided on a user's waist, a leg assembly that extends from an end of the main frame, and an optional foot support installed at an end of the leg assembly to support the user's foot. The leg assembly may include a leg frame having a first end connected to the main frame and a second end connected to the foot support, and a leg belt mounted on the leg frame. The leg belt may include a belt to secure a leg of the user and a wire winding structure that may include a wire connected to a first end of the belt and a wire winding dispenser on which the wire is wound and which fixes or releases a second end of the belt.

Abstract: A wearable assistive device may perform a control operation to protect a drive system in a state in which it is supported on an adaptive assistive and/or rehabilitation device. The wearable assistive device may include an actuated hip joint providing a first assistive force depending on a height of the wearable assistive device and an actuated joint to generate a second assistive force. It may be possible to control the wearable assistive device in a way that prevents collisions or sudden impacts with the ground.

Abstract: An exoskeleton may include a pair of actuated limbs rotatably arranged at sides of a lumbar/back frame. A posture restoring assembly may connect the sides of the lumbar/back frame and an upper end of the actuated limbs and return the actuated limbs to an initial or resting position thereof via an elastic or restoring force.

Abstract: A wearable assistive device may include a main frame, a leg assembly that extends downward from an end of the main frame, and a foot assembly that is installed at an end of the leg assembly. The leg assembly may include a leg frame having an upper end connected to the main frame and a lower end connected to the foot assembly and a leg belt that is mounted on the leg frame. The leg belt may include a belt that secures to a leg of the user, and a frame in which the belt is stored in a retractable and withdrawable manner while moving in a zigzag pattern inside the frame.

Abstract: A wearable assistive device having a posture controlled depending on different modes of an adaptive and/or rehabilitative device on which the exoskeleton is supported is disclosed herein. The exoskeleton may include a main controller to automatically control the posture depending on ‘a moving mode’, ‘a wearing mode’, and ‘a storage mode’ of the an adaptive and/or rehabilitative device. An operation mode may be determined depending on a height change or a movement of the adaptive and/or rehabilitative device, and an operation of a drive based on whether the exoskeleton contacts a ground may be controlled.

Abstract: A wearable assistive device may include a main frame provided on a user's waist, a leg assembly that extends from an end of the main frame, and an optional foot support installed at an end of the leg assembly to support the user's foot. The leg assembly may include a leg frame having a first end connected to the main frame and a second end connected to the foot support, and a leg belt mounted on the leg frame. The leg belt may include a belt to secure a leg of the user and a wire winding structure that may include a wire connected to a first end of the belt and a wire winding dispenser on which the wire is wound and which fixes or releases a second end of the belt.

Abstract: A wearable assistive device may have an improved waist supporting structure. The wearable assistive device may include a main frame configured to support a waist or a pelvis, a subframe installed on a front surface of the main frame to secure a waist, a leg assembly installed at the main frame and formed to extend downward along legs of the user to generate an assistive force that assists a power of the user, and a foot support installed at a lower end of the leg assembly to support a foot of the user.

Abstract: A wearable assistive device such as an exoskeleton may include a main frame that support a hip joint of a user. The main frame may have a predetermined curvature and structure that closely conforms to and remains in contact with a hip of the user at or near the hip joint so that the main frame may stably support both hip joints. While the user wears the exoskeleton and walks, bends, or lifts, the exoskeleton may stably and efficiently provide a force to assist a movement originating at the hip joint of the user, thereby aiding the user in stably walking, bending, or lifting.

Abstract: A wearable assistive device may include a main frame provided on a wrist or pelvis of a user, a leg assembly that is formed to be extended downward along a leg of the user at an end of the main frame, and a foot assembly that is installed at an end of the leg assembly to support a foot of the user. The leg assembly may include a leg frame connected to the main frame and the foot assembly, and a leg belt mounted on the leg frame. The leg belt may include a main support, a first support that is coupled to a side of the main support by a hinge joint, and a second support that is coupled to another side of the main support by a hinge joint.

Abstract: Disclosed herein is a wearable assistive device that may have a foot support capable of securing to shoes of various sizes. The foot support may include first and second supports that are slidably coupled to each other and adjusted in length, whereby a length of the foot support may be automatically adjusted in accordance with a shoe size of a user.

Abstract: A wearable assistive device such as an exoskeleton may include a foot support capable of a free ankle movement. The foot support may include an ankle support having an accordion spring and may be connected to a rear surface of the foot support, thereby supporting an ankle so that a user can exercise a complex ankle movement.

Abstract: A wearable assistive device may include a main frame that covers a pelvis of a user, a subframe installed on a front surface of the main frame to secure a waist of the user, and a leg assembly installed at opposite ends of the main frame and formed to extend downward along each leg of the user to generate an assistive force that assists the user. The subframe may include a main waist support that supports a back of the user, a first support hingedly coupled to a first end of the main waist support to support a first side of the waist of the user, and a second support hingedly coupled to a second end of the main waist support to support a second side of the waist of the user.

Abstract: An adaptive assistive and/or rehabilitative device may be configurable for use with another assistive device, such as a wearable assistive device. When the wearable assistive device is a robotic device such as an exoskeleton, the adaptive assistive and/or rehabilitative device may be transformed into a first configuration for charging or storing the exoskeleton, a second configuration for transport of the exoskeleton, a third configuration for assistance in donning of the exoskeleton by a user, and a fourth configuration for assisting the user while standing or walking with the exoskeleton.

Abstract: An adaptive assistive and/or rehabilitative device may be configurable for use with another assistive device, such as a wearable assistive device. When the wearable assistive device is a robotic device such as an exoskeleton, the adaptive assistive and/or rehabilitative device may be transformed into a first configuration for charging or storing the exoskeleton, a second configuration for transport of the exoskeleton, a third configuration for assistance in donning of the exoskeleton by a user, and a fourth configuration for assisting the user while standing or walking with the exoskeleton.

Abstract: An adaptive assistive and/or rehabilitative device may be configurable for use with another assistive device, such as a wearable assistive device. When the wearable assistive device is a robotic device such as an exoskeleton, the adaptive assistive and/or rehabilitative device may be transformed into a first configuration for charging or storing the exoskeleton, a second configuration for transport of the exoskeleton, a third configuration for assistance in donning of the exoskeleton by a user, and a fourth configuration for assisting the user while standing or walking with the exoskeleton.

Abstract: An adaptive assistive and/or rehabilitative device may be configurable for use with another assistive device, such as a wearable assistive device. When the wearable assistive device is a robotic device such as an exoskeleton, the adaptive assistive and/or rehabilitative device may be transformed into a first configuration for charging or storing the exoskeleton, a second configuration for transport of the exoskeleton, a third configuration for assistance in donning of the exoskeleton by a user, and a fourth configuration for assisting the user while standing or walking with the exoskeleton.

Abstract: An adaptive assistive and/or rehabilitative device may be configurable for use with another assistive device, such as a wearable assistive device. When the wearable assistive device is a robotic device such as an exoskeleton, the adaptive assistive and/or rehabilitative device may be transformed into a first configuration for charging or storing the exoskeleton, a second configuration for transport of the exoskeleton, a third configuration for assistance in donning of the exoskeleton by a user, and a fourth configuration for assisting the user while standing or walking with the exoskeleton.