Abstract: A modular artificial skeletal muscle (MASM) actuator having a plurality of dielectric elastomer units assembled in series or in parallel. A proximal anchoring member is connected to a proximal end of at least one proximal dielectric elastomer unit and is configured for attachment to a proximal anchor point relative to a user. A tension member has a proximal end attached to a distal end of at least one distal dielectric elastomer unit and a distal end configured for attachment to a distal anchor point relative to the user. A controller is configured to cause simultaneous contraction or expansion of plurality of dielectric elastomer units, which contraction or expansion causes displacement of the tension member. A plurality of MASM actuators may be attached to an exoskeleton attached about an ankle of a user and controlled for therapeutic purposes, such as for assisting pediatric patients with cerebral palsy.

Abstract: A system that activates a muscle to produce a functional movement in a subject through electrical stimulation is described. During operation, the system first obtains a non-isometric model which defines a functional movement associated with the muscle in response to electrical stimulation of the muscle. Next, the system uses the non-isometric model to compute an electrical stimulation which produces a desired functional movement in the subject. The system then applies the computed electrical stimulation to the muscle to produce the desired functional movement in the subject.

Abstract: An ankle-foot orthosis comprising a leg member 12; a foot member 14; a frame 16 connecting the leg member to the foot member, wherein the frame comprises a first revolute joint 18 that rotates about a first axis 20 and a second revolute joint 22 that rotates about a second axis 24, wherein the first and second axes are non-parallel. The frame can further comprise a foot member segment 30 secured to the foot member 14 and extending to the second revolute joint 22. The orthosis can comprise a first force-torque sensor 36 located on the leg member, a second force-torque sensor 38 located on the foot member, and an encoder positioned on one of the revolute joints. The invention includes a method of measuring ankle-foot-related forces comprising positioning a subject's leg and foot in an ankle-foot orthosis; collecting data from the first and second force-torque sensors; and analyzing the collected data to determine the motion of the subject's ankle.

Abstract: One embodiment of the present invention provides a system that activates a muscle to produce a functional movement in a subject through electrical stimulation. During operation, the system first obtains a non isometric model which defines a functional movement associated with the muscle in response to electrical stimulation of the muscle. Next, the system uses the non isometric model to compute an electrical stimulation which produces a desired functional movement in the subject. The system then applies the computed electrical stimulation to the muscle to produce the desired functional movement in the subject.

Abstract: An ankle-foot orthosis comprising a leg member 12; a foot member 14; a frame 16 connecting the leg member to the foot member, wherein the frame comprises a first revolute joint 18 that rotates about a first axis 20 and a second revolute joint 22 that rotates about a second axis 24, wherein the first and second axes are non-parallel. The frame can further comprise a foot member segment 30 secured to the foot member 14 and extending to the second revolute joint 22. The orthosis can comprise a first force-torque sensor 36 located on the leg member, a second force-torque sensor 38 located on the foot member, and an encoder positioned on one of the revolute joints. The invention includes a method of measuring ankle-foot-related forces comprising positioning a subject's leg and foot in an ankle-foot orthosis; collecting data from the first and second force-torque sensors; and analyzing the collected data to determine the motion of the subject's ankle.