Abstract: A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

Abstract: A biomechanical motion device employs a plurality of actuator cylinders to generate forces representative of human gait loading. The biomechanical motion device includes a crosshead that is manipulated vertically by a set of two vertical pneumatic cylinders, and the crosshead is mounted to two vertical shafts on linear bearings that guide the crosshead in the vertical direction. The biomechanical motion device further includes a horizontal slide system that incorporates a linear carriage rail mounted flush to the bottom of the crosshead. The linear carriage rail guides a sliding carriage, and a custom bracket is mounted to the sliding carriage. Attached to the bracket is a pivot shaft and the shaft serves as a simulated knee joint about which a lower leg assembly can be rotated. Horizontal motion colinear with the carriage rail of the simulated knee joint connection is generated using a set of two horizontal pneumatic cylinders.

Abstract: An enhanced actuator assembly, such as for use in driving a joint member of a wearable robotic device, is characterized by electrical isolation of the motor from the transmission system output. An actuator assembly includes a motor and a transmission system that provides a speed reduction of a motor speed to an output speed. The transmission system includes a non-conductive material layer that electrically isolates the motor from an output of the transmission system. The transmission system may be a two-stage transmission system. A first stage of speed reduction of the transmission system may include a first rotating member, such as a first helical gear, attached to the output shaft of the motor that transmits power to a second rotating member, such as a second helical gear. The second rotating member has a diameter larger than a diameter of the first rotating member to form the first stage of speed reduction, and the non-conductive material layer is part of the second rotating member.

Abstract: An electromagnetic brake assembly includes a solenoid coil; a fixed ferrous brake stator; a ferrous armature having a braking face, wherein the armature is moveable in a translation direction relative to the brake stator between a disengaged position and an engaged position; and a rotating member including a mating surface and that rotates relative to the armature when the armature is in the disengaged position. When the solenoid coil is energized, the armature translationally moves from the disengaged position to the engaged position, and in the engaged position the braking face of the armature interacts with the mating surface of the rotating member to apply a braking force to the rotating member. The braking face and the mating surface may form a conical interface, and the conical interface further may include a friction O-ring positioned within a slot that permits the O-ring to roll along the braking interface when the armature moves between the disengaged position and the engaged position.

Abstract: A power system includes a battery assembly that has at least one battery cell for providing power; a battery receiver that removably receives the battery assembly; and a plurality of first connecting elements that are located in the battery assembly and a corresponding plurality of second connecting elements that are located in the battery receiver, wherein an attractive magnetic force between the plurality of first and second connecting elements aids in maintaining a physical connection between the battery assembly within the battery receiver. In addition, a connection between a pair of a first connecting element and a corresponding second connecting element further constitutes an electrical connection between the battery assembly and the battery receiver.

Abstract: A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

Abstract: An actuating device for orthosis includes a transmission that is operatively connected to a motor such that the motor provides power to the transmission. The transmission includes a first stage, a second stage, and a third stage. Each of these stages includes at least two sprockets and a drive belt tensioned between the two sprockets. The transmission also includes a first shaft and a second shaft. A sprocket of each of the first, second, and third stages of the transmission is attached to the first shaft. An actuating arm is operatively connected to the third stage of the transmission such that the power provided to the transmission by the motor causes the actuating arm to provide an output torque.

Abstract: A cloud-based control method and related system implements enhanced control of a network of mobility assistance devices.

Abstract: An actuator system for an orthotic device includes an actuator assembly and a driven joint member. The driven joint member is connected remotely from the actuator assembly by flexible cabling to permit flexibility in positioning the driven joint member relative to the actuator assembly. The actuator system may include an actuator assembly having a motor and a first portion of a transmission assembly that provides a speed reduction of a motor speed to an output speed, and a driven joint member having an output portion of the transmission assembly and a connector component for connecting the driven joint member to a brace component of the orthotic device. The driven joint member including the output portion of the transmission assembly is connected remotely from the actuator assembly by flexible cabling that runs between the actuator assembly and the driven joint component, to permit flexibility in positioning the driven joint member relative to the actuator assembly.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

Abstract: An actuating device for orthosis including a housing, a motor, a transmission disposed in the housing, and an actuating arm. The transmission is operatively connected to the motor such that the motor provides power to the transmission. The transmission includes a first stage, a second stage, and a third stage. The first stage has a first sprocket, a second sprocket, and a first drive belt tensioned between the first sprocket and the second sprocket. The first sprocket is attached to a shaft of the motor. The second stage has a third sprocket, a fourth sprocket, and a second drive belt tensioned by the third sprocket and the fourth sprocket. The third sprocket is attached to the second sprocket of the first stage. The third stage has a fifth sprocket, a sixth sprocket, and a third drive belt tensioned by the fifth sprocket and the sixth sprocket. The fifth sprocket is attached to the fourth sprocket of the second stage. The transmission additionally includes a first shaft and a second shaft.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.