Abstract: A coupling device couples a walker to a torso orthosis which is coupled to a person. The coupling device includes an orthosis coupling member coupled to said torso orthosis, a walker coupling member coupled to said walker, and a mechanism coupled to the orthosis coupling member from its first end and to the walker coupling member from its second end. The mechanism constrains said orthosis coupling member to move along a free line. The torso orthosis is worn by the person and said coupling device is coupled to both said walker and said torso orthosis. The person may be walking along a moving direction not parallel with said free line. The mechanism forces said walker and torso orthosis to move along said moving direction and allows said torso orthosis to move freely along said free line when said moving direction is not parallel with said free line.

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.