Abstract: One general aspect of technical solutions described herein includes a biomechanical assistive device that includes one or more sensors, a back-drivable motor system, and a controller. The controller, when the motor system is inactive, records measurements from the one or more sensors for user motion pattern analysis during a user activity being performed by a user. The controller, when the motor system is active, records the measurements from the one or more sensors, and generates an assist torque to assist the user to perform the user activity.

Abstract: According to one or more embodiments, a biomechanical assistive device is described that generates and provide assist torque by detecting user intent. An example biomechanical assistive device includes a motor, and a controller that generates a torque command for providing assist torque using the motor based on a user activity being performed using the biomechanical assistive device. The controller determines a stride frequency based on a position signal indicative of a position of a joint of the biomechanical assistive device. The controller dynamically adjusts the torque command based on the stride frequency to generate a final torque command. The controller applies the final torque command to the motor.

Abstract: Technical solutions described herein include a biomechanical assistive device that includes a motor control system that generates assistive torque based on a torque profile that is associated with a present activity being performed by a user. The device further includes an activity module that detects a new activity being initiated by the user, and computes a confidence index of the new activity. In response to the confidence index being above a threshold, the activity module switches the biomechanical assistive device to use a torque that is associated with the new activity.

Abstract: A lumbar support apparatus for a powered exoskeleton includes a support member and a lumbar support member. The support member includes a back portion, a first arm, and a second arm. The back portion has a first surface and a second surface that extends between a back portion first end and a back portion second end. The first arm extends from the back portion first end. The first arm defines a first attachment point for a first leg support. The second arm extends from the back portion second end. The second arm defines a second attachment point for a second leg support. The lumbar support member is disposed on the first surface of the back portion.