Abstract: A method of using an ankle exoskeleton device is provided herein. The method includes collecting one or more biomechanical data points from an individual. The method also includes developing individualized musculoskeletal simulations based on the one or more biomechanical data points. In addition, the method includes creating predictive simulations by modeling effects of an ankle exoskeleton device on the individualized musculoskeletal simulations. The method also includes utilizing established device-user relationships with real-time measurements to adjust device control. Lastly, the method includes optimizing design parameters of the exoskeleton device based on the predictive simulations and user responses.

Abstract: An assistive ankle foot orthosis is described. The AFO has a tubular vertical member arranged laterally to a user's limb. The member carries a rotational bearing and a rotational element such as a pulley. The pulley is connected to a footplate. The footplate provides joint movement assistance or resistance to the user upon rotation of the pulley. The pulley is coupled to one or more springs that provide counter-rotational resistance to pulley movement, thereby storing, and then returning, rotational force during certain foot movements. The spring can include a leaf spring arranged inside the member, the stiffness of which can be manually, automatically or dynamically adjusted by movement of the device.

Abstract: An assistive ankle foot orthosis is described. The AFO has a tubular vertical member arranged laterally to a user's limb. The member carries a rotational bearing and a rotational element such as a pulley. The pulley is connected to a footplate. The footplate provides joint movement assistance or resistance to the user upon rotation of the pulley. The pulley is coupled to one or more springs that provide counter-rotational resistance to pulley movement, thereby storing, and then returning, rotational force during certain foot movements. The spring can include a leaf spring arranged inside the member, the stiffness of which can be manually, automatically or dynamically adjusted by movement of the device.

Abstract: An assistive ankle foot orthosis is described. The AFO has a vertical shank member arranged laterally to a user's limb. The member carries a rotational bearing and a rotational element such as a pulley. The rotational bearing is lateral to a user's ankle. The pulley is connected to a footplate. The footplate can be actuated to provide joint movement assistance or resistance to the user upon rotation of the pulley. The AFO includes an ankle angle and angular velocity sensor and a pressure sensor located under the user's forefoot. The AFO includes a controller that computes an estimate of the user's peak joint power on the basis of a series of products of measurements of foot pressure and angular velocity.

Abstract: An assistive ankle foot orthosis is described. The AFO has a tubular vertical member arranged laterally to a user's limb. The member carries a rotational bearing and a rotational element such as a pulley. The pulley is connected to a footplate. The footplate provides joint movement assistance or resistance to the user upon rotation of the pulley. The pulley is coupled to one or more springs that provide counter-rotational resistance to pulley movement, thereby storing, and then returning, rotational force during certain foot movements. The spring can include a leaf spring arranged inside the member, the stiffness of which can be manually, automatically or dynamically adjusted by movement of the device.

Abstract: Lower-limb exoskeletons used to improve free-living mobility for individuals with neuromuscular impairment must be controlled to prescribe assistance that adapts to the diverse locomotor conditions encountered during daily life, including walking at different speeds and across varied terrain. This system employs an ankle exoskeleton control strategy that instantly and appropriately adjusts assistance to the changing biomechanical demand during variable walking. Specifically, this system utilizes a proportional joint-moment control strategy that prescribes assistance as a function of the instantaneous estimate of the ankle joint moment.

Abstract: A powered exoskeleton is designed to provide assistance to a user, where the powered exoskeleton may have power-generating elements in one location and power-applying elements in another location, so that a user can easily wear the powered exoskeleton.

Abstract: An assistive ankle foot orthosis is described. The AFO has a tubular vertical member arranged laterally to a user's limb. The member carries a rotational bearing and a rotational element such as a pulley. The pulley is connected to a footplate. The footplate provides joint movement assistance or resistance to the user upon rotation of the pulley. The pulley is coupled to one or more springs that provide counter-rotational resistance to pulley movement, thereby storing, and then returning, rotational force during certain foot movements. The spring can include a leaf spring arranged inside the member, the stiffness of which can be manually, automatically or dynamically adjusted by movement of the device.

Abstract: A powered exoskeleton is designed to provide assistance to a user, where the powered exoskeleton may have power-generating elements in one location and power-applying elements in another location, so that a user can easily wear the powered exoskeleton.

Abstract: An exoskeleton device is provided herein that includes a control unit having at least one actuator. A transmission assembly operably couples the control unit to a hinged assembly. A sensor is coupled to the hinged assembly and is configured to acquire data in reference to use of the hinged assembly. The exoskeleton device also includes a feedback modality. A controller is in communication with the sensor and feedback modality. The controller is configured to activate the feedback modality based on a measured performance metric that is determined from the acquired data.

Abstract: A foot plate for an assistive device is disclosed. The foot plate includes a planar vertical mounting portion on its lateral side, and a planar foot bed. The foot plate includes a gradual shoulder portion, such as a web of material that ties the vertical mounting portion to the foot bed. The foot plate also includes a heel cup at a posterior end for engaging the heel of a user. The foot plate also includes a rocker portion underneath the toes of a user, on an anterior end of the foot plate. The rocker portion enables the toes to flex in the dorsal direction during walking without the foot becoming disengaged from the foot plate.

Abstract: A low-weight, high performance wearable assistive device for assisting motion of a joint of a wearer (e.g., an ankle) and/or resistance training of motion of the joint includes a lightweight upright member that may be attached to the wearer (e.g., fastened to the wearer's outside calf). Forces to assist or resist movement of the joint are coupled to a rotation bearing via cables. The bearing is disposed within the upright member such torsional deflection of the device under load is reduced, allowing the upright member to be lighter and/or less obtrusive to the wearer and less susceptible to failure.

Abstract: An exoskeleton device is provided herein that includes a control unit including a controller. At least one embedded sensor is configured to acquire data. An actuator is in electrical communication with the at least one embedded sensor and the controller. The controller is configured to adjust a level of assistance or resistance provided by the actuator in response to a change in a performance metric as measured by the acquired data.

Abstract: A method of using an ankle exoskeleton device is provided herein. The method includes collecting one or more biomechanical data points from an individual. The method also includes developing individualized musculoskeletal simulations based on the one or more biomechanical data points. In addition, the method includes creating predictive simulations by modeling effects of an ankle exoskeleton device on the individualized musculoskeletal simulations. The method also includes utilizing established device-user relationships with real-time measurements to adjust device control. Lastly, the method includes optimizing design parameters of the exoskeleton device based on the predictive simulations and user responses.

Abstract: An exoskeleton device is provided herein that includes a control unit including a controller. At least one embedded sensor is configured to acquire data. An actuator is in electrical communication with the at least one embedded sensor and the controller. The controller is configured to adjust a level of assistance or resistance provided by the actuator in response to a change in a performance metric as measured by the acquired data.

Abstract: A method of using an ankle exoskeleton device is provided herein. The method includes collecting one or more biomechanical data points from an individual. The method also includes developing individualized musculoskeletal simulations based on the one or more biomechanical data points. In addition, the method includes creating predictive simulations by modeling effects of an ankle exoskeleton device on the individualized musculoskeletal simulations. The method also includes utilizing established device-user relationships with real-time measurements to adjust device control. Lastly, the method includes optimizing design and control parameters of the exoskeleton device based on the predictive simulations and user responses.

Abstract: Lower-limb exoskeletons used to improve free-living mobility for individuals with neuromuscular impairment must be controlled to prescribe assistance that adapts to the diverse locomotor conditions encountered during daily life, including walking at different speeds and across varied terrain. This system employs an ankle exoskeleton control strategy that instantly and appropriately adjusts assistance to the changing biomechanical demand during variable walking.

Abstract: A method of using an ankle exoskeleton device is provided herein. The method includes collecting one or more biomechanical data points from an individual. The method also includes developing individualized musculoskeletal simulations based on the one or more biomechanical data points. In addition, the method includes creating predictive simulations by modeling effects of an ankle exoskeleton device on the individualized musculoskeletal simulations. The method also includes utilizing established device-user relationships with real-time measurements to adjust device control. Lastly, the method includes optimizing design and control parameters of the exoskeleton device based on the predictive simulations and user responses.

Abstract: An exoskeleton device is provided herein that includes a control unit having at least one actuator. A transmission assembly operably couples the control unit to a hinged assembly. A sensor is coupled to the hinged assembly and is configured to acquire data in reference to use of the hinged assembly. The exoskeleton device also includes a feedback modality. A controller is in communication with the sensor and feedback modality. The controller is configured to activate the feedback modality based on a measured performance metric that is determined from the acquired data.

Abstract: An exoskeleton device is provided herein that includes a control unit including a controller. At least one embedded sensor is configured to acquire data. An actuator is in electrical communication with the at least one embedded sensor and the controller. The controller is configured to adjust a level of assistance or resistance provided by the actuator in response to a change in a performance metric as measured by the acquired data.