Abstract: An apparatus for oral hygiene is disclosed herein. The apparatus includes a base unit containing a reservoir, an oral irrigation handle, a sonic toothbrush, and an accessory container. The apparatus may include a pump, which may move pressurized water from a reservoir to a tip in fluid communication with the pump. The apparatus contains a drive mechanism in a gear housing that is continually drained by one or more apertures in the base. The base may include a plurality of footings that elevate the base unit above a surface supporting the base unit. The oral irrigation handle includes a pause switch that translates longitude motion into rotational motion to close a valve.

Abstract: An irrigating device including a reservoir for storing fluid, a tip fluidly connected to the reservoir, and a pump operative to draw fluid from the reservoir and propel the fluid to the tip. The irrigating device further includes at least one reed valve positioned to regulate fluid between at least one of an inlet port or an exhaust port of the pump.

Abstract: An ultrasonic toothbrush having spatially extended functionality to treat various oral diseases in addition to removing plaque and treating gingivitis is disclosed. In addition to the ultrasonically activated bristles, the toothbrush incorporates a multi directional ultrasound transducer system, which spatially irradiates the oral cavity with ultrasonic pressure waves, operational to loosen plaque, to remove periodontal bacteria from teeth and gums, and to simultaneously treat and destroy disease causing bacteria and bacterial chains on the inside surfaces of cheeks and lips, providing relief from Recurring Aphthous Stomatitis, Lichen Planus, and Mucositis. Various configurations are disclosed, including user removable and replaceable brush heads, ultrasound treatment heads, and a system of protecting the vibrating exposed ultrasound transducer from contacting the teeth of the user. A motorized version featuring sonic frequency orbital vibration brush head and bristle tufts is described.

Abstract: An ultrasound applicator having spatially extended functionality to treat various oral and dental diseases. The applicator incorporates a multi directional ultrasound transducer system, which spatially irradiates the oral cavity with ultrasonic pressure waves, operational to simultaneously treat and destroy disease causing bacteria and bacterial chains on the gums and the inside surfaces of cheeks and lips, providing relief from Gingivitis, Recurring Aphthous Stomatitis, Lichen Planus, and Mucositis. A motorized version featuring sonic frequency orbital vibration of the applicator is described.

Abstract: A water pressure driven tooth brush according to embodiments includes a hose to be connected to a faucet, a water pressure power generator to generate rotating force by receiving water pressure through the hose, and rotary tooth brush hairs rotated by the water pressure power generator. The water pressure power generator includes a cylindrical housing serving as a tooth brush handle and having a water supply pipe and a water exhaust pipe at a rear portion thereof, and at least one driving shaft at a front portion thereof, a water turbine installed in a rear chamber formed in the cylindrical housing and rotated by pressurized water, and a reduction module installed in a front chamber formed in the cylindrical housing and coupled to a rotating shaft of the water turbine to transfer reduced rotating force to the driving shaft.

Abstract: A package (11) that comprises a front cover (40) and a back cover (60), at least a first portion of the front cover (40) or the back cover (60) being formed of a first material, and one of the front cover (40) and the back cover (60) being formed of a second material, the second material being more rigid than the first material. The first portion formed of the first material is capable of being deflected without permanent deformation of the display package. An oral care implement (10) may be included within the package (11) and in some embodiments, the first portion is adjacent the head (27).

Abstract: A dental appliance case for receiving a dental appliance is provided. In some embodiments, the case may include a power source, a sound device, an occupancy sensor, and a processing unit. The sound device may be configured to create an audible alert sound. The occupancy sensor may be operable to detect the presence of a dental appliance. The processing unit may be in electrical communication with the power source, occupancy sensor, and the sound device. The processing unit may be operable to operate the sound device to create an audible alert in response to an electronic communication from the occupancy sensor.

Abstract: Described are methods, devices, and systems related to pelvic implants, including implants that include absorbable and non-absorbable materials.

Abstract: Systems for providing support within the pelvic region of a patient. The systems can include an elongated incontinence sling having a central support portion adapted to be positioned to support any one of the urethra or anus, and a sling tension adjustment mechanism operatively attached to the elongated sling. The sling tension adjustment mechanism can include a plunger device adapted for traversal within an interior of the housing, and an inflatable bladder provided within the housing to selectively control traversal of the plunger. Alternatively, the adjustment mechanism can include a bobbin device within the housing and one or more retention devices to selectively restrict unwinding of a suture from the bobbin device.

Abstract: The present disclosure relates to a prosthesis comprising: one mesh delimited by a peripheral exterior edge, a frame fastened to said mesh and adopting the shape of said peripheral exterior edge of the mesh, said frame being set back from said peripheral exterior edge and being provided with two hinge points, the line passing through said two hinge points also passing through the center of the mesh and thus forming a line for folding the mesh in two, characterized in that said prosthesis further comprises at least two anchor pieces made of suturable material and located on a single face of the mesh on either side of said folding line, each piece having a fixed part linked to said mesh and a free part, said free part being linked to at least one thread-shaped element.

Abstract: A retrieval system for a medical device includes an access sheath, a clot catch with an attached mesh, and a filter catch having an attached retrieval member. The filter catch is translatable within clot catch, and the clot catch is translatable within the access sheath. The mesh is expandable into engagement with a body vessel during retrieval of the medical device. The mesh captures emboli that are dislodged during retrieval of the device. The device is captured by the clot catch during retrieval, and the clot catch is subsequently captured by the access sheath. The system can further include an inner sheath translatable within the clot catch, with the inner sheath capturing the medical device and the clot catch capturing the inner sheath.

Abstract: A vena cava filter is described, having one or more frame members or an elongated member arranged in helical fashion. A plurality of filaments connect frame members or portions of the elongated member. The filaments may be made of suture material. Hooks may be placed on a free end of the filaments, along the length thereof, or on one or more frame members to engage the blood vessel wall and anchor the filter. A retrieval member may be positioned on the filter to facilitate withdrawal of the filter from the blood vessel.

Abstract: Single filter and multi-filter endolumenal methods and systems for filtering fluids within the body. In some embodiments a blood filtering system captures and removes particulates dislodged or generated during a surgical procedure and circulating in a patient's vasculature. In some embodiments a filter system protects the cerebral vasculature during a cardiac valve repair or replacement procedure.

Abstract: An implantable, radially distensible stent includes a tubular structure having opposed open ends. The wall of the stent is made from a shape memory polymeric material. Grooves may be disposed within an outer surface of stent wall to improve flexibility and drainage of the stent.

Abstract: The invention relates to an occlusive system implantable in an animal or human body to occlude a natural conduit (10) of an animal or human body, comprising: an occlusive element (9) designed to surround part of the natural conduit (10) to be occluded, an activation device (2) of said occlusive element (10) for varying the compression exerted by said occlusive element (9) on said conduit (10), a control unit (7) adapted to urge the activation device (2) so as to exert determined compression on the conduit (10), and a detection device of atrophy of said natural conduit (10), comprising: (i) a sensor adapted to measure the compression exerted by the occlusive element (9) on the natural conduit (10), and (ii) a processing unit adapted to: determine a representative parameter of strain to be applied to the activation device (2) to achieve determined compression of the conduit (10) by the occlusive element (9), monitor said parameter over time, and detect atrophy of the natural conduit (10) when said represen

Abstract: A ligament assembly (2) comprising a resilient element (20) connected to a bone anchor (4) and a ligament (18), the resilient element (20) acting m a cantilever and resisting toads transmitted between the bone anchor (4) and the ligament (18) by virtue of the resistance to bending of the resilient element. The ligament (18) may comprise an artificial ligament (18) which is adapted to replace a human or animal ligament. The resilient element (20) may comprise a spiral spring and may act as a biasing element/shock absorber operatively coupled to the artificial ligament (18) to control the effective stiffness of the artificial ligament (18). Consequently, the resilient element (20) enables an effective stiffness of the artificial ligament (18) to be achieved that more closely approximates the stiffness of a natural ligament.

Abstract: Described herein are devices for placement in surgically created soft tissue spaces, potential spaces, or cavities. The implantable devices generally include a bioabsorbable body having an open framework that facilitates attachment of tissue thereto in a manner that helps avoid post-surgical deformities. Methods for using the implantable devices in oncoplastic surgery are further described.

Abstract: A system controller for an ophthalmic lens comprising an electronic system which actuates a variable-focus optic is disclosed herein. The system controller is part of an electronic system incorporated into the ophthalmic lens. The electronic system includes one or more batteries or other power sources, power management circuitry, one or more sensors, clock generation circuitry, control algorithms and circuitry, and lens driver circuitry. The controller including multiple state machines configured as digital logic gates.

Abstract: An exemplary ocular implant insertion system includes a case and a preloaded ocular implant insertion apparatus. The apparatus includes first and second movable structures that move the ocular implant in a predetermined sequence. The respective configurations of the case and the ocular implant insertion apparatus are such that the ocular implant insertion apparatus is not removable from the case when the ocular implant insertion apparatus is in the pre-use state and is removable after the first movable structure has moved at least a portion of the optical implant.

Abstract: A heart valve implant is disclosed herein. The heart valve implant comprises an inflatable valve body, a shaft, an anchor assembly and an inflation (injection) port. Also disclosed herein, are methods of trans-apically and trans-septally delivering a heart valve implant within a heart such that the valve body can be inflated in situ to partially or completely restrict blood flow through a heart valve in a closed position. The inflation (injection) port permits inflation of the valve body with an adjustable amount of an inflation fluid to attain a desired degree of inflation of the valve body when disposed within the heart valve.

Abstract: Selective fluid barrier valve devices and methods of treatment are described herein. An embodiment of a selective fluid barrier valve device comprises a housing, an actuator, a sleeve, a wire member, and a connector. The sleeve defines a passageway that extends through the sleeve. The actuator is moveable between a first position and a second position. When the actuator is in the first position, the sleeve is in a first configuration such that fluid can pass through the passageway defined by the sleeve. When the actuator is in a second position, the sleeve is in a second configuration such that fluid is prevented from passing through the passageway defined by the sleeve.

Abstract: The kit (10) of the invention includes a valve bearing (16) that can be radially deformed. The bearing (16) includes an outer peripheral wall (22) defining a central passage (40) having an axis (X-X?). The bearing (16) further includes an inner peripheral wall (24) defining an inner lumen (44) having a radial dimension lower than that of the central passage (40). The kit (10) includes a prosthetic valve (18) to be placed on the inner peripheral wall (24). The inner peripheral wall (24) extends in the central passage axially relative to the outer wall (22). The valve bearing (16) includes a means (26) for maintaining the inner peripheral wall (24) radially remote from the outer peripheral wall (22). The inner peripheral wall (24) and the maintaining means (26) define an inner blood circulation region (56) containing the lumen (44) which is tightly isolated from an outer region (58).

Abstract: A device for regulating blood pressure between a patient's left atrium and right atrium comprises an hourglass-shaped stent comprising a neck region and first and second flared end regions, the neck region disposed between the first and second end regions and configured to engage the fossa ovalis of the patient's atrial septum; and a one-way tissue valve coupled to the first flared end region and configured to shunt blood from the left atrium to the right atrium when blood pressure in the left atrium exceeds blood pressure in the right atrium. The inventive devices may reduce left atrial pressure and left ventricular end diastolic pressure, and may increase cardiac output, increase ejection fraction, relieve pulmonary congestion, and lower pulmonary artery pressure, among other benefits. The inventive devices may be used, for example, to treat subjects having heart failure, pulmonary congestion, or myocardial infarction, among other pathologies.

Abstract: Disclosed prosthetic valves can comprise a sewing ring configured to secure the valve to an implantation site. Some disclosed valves comprise a resiliently collapsible frame having a neutral configuration and a collapsed deployment configuration. Some disclosed frames can self-expand to the neutral configuration when released from the collapsed deployment configuration. Collapsing a disclosed valve can provide convenient access to the sewing ring, such as for securing the valve to the implantation site, as well as for the insertion of the valve through relatively small surgical incisions. Examples of delivery systems and methods for deploying the valves exhibit reduced patient trauma.

Abstract: A method of crimping and loading prosthetic heart valves comprises folding a crimping sheet to form a spiral wrapped around a heart valve; manually rolling and tightening the spiral to compress the valve inside the spiral; inserting the tightened spiral wrapped around the valve into a cannula; and displacing the valve out of the tightened spiral and into the cannula. A kit for crimping and loading the valve into a delivery device comprises a crimping sheet foldable to form a spiral wrapped around the valve, the spiral manually rollable and tightenable to compress the valve wrapped inside the spiral, so that the tightened spiral is slidably insertable into a lumen of a cannula for delivering the valve; and a plunger sized for insertion into the tightened spiral to displace the heart valve out of the spiral and into the lumen of the cannula.

Abstract: An exemplary two-stage prosthetic heart valve system has a radially expandable base stent implanted within a native valve annulus. The base stent desirably has three position markers projecting in the axial direction from the outflow end of the base stent to assist in aligning the stent with respect to the commissures of the native valve. The two-stage heart valve system also has a valve component that is delivered to and mounted within the base stent in a separate or sequential operation after the base stent has been anchored within the annulus. The valve component in certain embodiments comprises a hybrid valve component that includes a conventional, non-expandable surgical valve that is modified to include an expandable coupling stent that can be expanded to engage the inner surface of the base stent, thereby anchoring the valve component to the base stent.

Abstract: An osteoconductive vascularized porous metal implant device and method for implanting the vascularized device are described herein. The vascularized implant device comprises an implant which is porous titanium, tantalum or other metal which is biocompatible with the mammalian body and at least one vascular conduit which connects the porous implant to an animal vasculature, such as a human vascular system.

Abstract: A vertebral prosthesis and spinal fixation system includes a vertebral prosthesis having a height adjustable shaft and an anchoring mechanism coupled to the shaft. The system further includes a spinal fixation device and a number of bone screws. The bone screws attach the fixation device to the vertebral prosthesis via the anchoring mechanism.

Abstract: Intervertebral discs are avascular. Oxygen, nutrients and bicarbonate diffuse from capillaries in cartilaginous endplates into discs to feed and maintain disc cells. As we age, calcified layers form at the endplates, blocking and occluding capillaries. Diffusion zones of oxygen and nutrients in disc become shallow. Cells in mid-layer of the disc suffer chronic anaerobic and starving conditions. Lactic acid is produced. Disc cells die from starvation, causing disc degeneration and forming fissures in annulus. Lactic acid leaks from fissures to the outer annulus of the disc to cause irritation, inflammation and persistent pain. Spirals of filament are implanted into the painful and degenerating disc to draw oxygen, nutrients and bicarbonate from the shallow diffusion zones of the cartilaginous endplates into the mid-layer of the degenerating disc.

Abstract: The present invention relates to devices and methods for treating one or more damaged, diseased, or traumatized portions of the spine, including intervertebral discs, to reduce or eliminate associated back pain. In one or more embodiments, the present invention relates to an expandable interbody spacer. The expandable interbody spacer may comprise a first jointed arm comprising a plurality of links pivotally coupled end to end. The expandable interbody spacer further may comprise a second jointed arm comprising a plurality of links pivotally coupled end to end. The first jointed arm and the second jointed arm may be interconnected at a proximal end of the expandable interbody spacer. The first jointed arm and the second jointed arm may be interconnected at a distal end of the expandable interbody spacer. The first jointed arm and the second jointed arm may each be configured to fold inward in opposite directions to place the expandable interbody spacer in an expanded position.

Abstract: An expandable intervertebral implant includes a front wall, a back wall spaced apart from the front wall, and two side walls connecting the front wall and the back wall at their respective ends. The walls define a space. The implant further includes a bottom face, a top face, at least one engagement member with an engagement surface for engagement with the end plate of a vertebral body, a first adjusting element and a second adjusting element which are supported by a first support member and a second support member, respectively, and which cooperate with the respective support member such that the engagement member is reciprocally movable between a first end position and a second end position. In the first end position, the engagement surface does not project beyond the bottom face or the top face and in the second end position, the engagement surface at least partially projects outwardly beyond the bottom face or the top face. The first and the second support members are coupled by a coupling mechanism.

Abstract: A method of implanting an intervertebral spacer may include positioning the intervertebral spacer within an intervertebral space defined by adjacent vertebral bodies. The intervertebral spacer may include a plurality of bores, and each of the plurality of bores may be configured to receive either a linear fastening element or a curvilinear fastening element. The method also may include selecting a first fastening element from a group including linear fastening elements and curvilinear fastening elements, and inserting the first fastening element into a first bore of the plurality of bores such that the first fastening element is inserted into one of the adjacent vertebral bodies to secure the intervertebral spacer within the intervertebral space.

Abstract: Interbody fusion devices, insertion tools, methods for assembling an interbody fusion device, and methods for inserting a medical device between two vertebral bodies are disclosed. The interbody fusion device includes a base member, a top member, and at least one movement mechanism. The base member includes at least one of a pivot cylinder and a hinge channel. The top member includes at least one of a pivot cylinder and a hinge channel. The at least one pivot cylinder of the base member engages the at least one hinge channel of the top member and the at least one pivot cylinder of the top member engages the at least one hinge channel of the base member. The at least one movement mechanism engages the top member and the base member. Also disclosed are a vertebral spacer device and an interbody spacer system including an insertion tool and an interbody fusion device.

Abstract: Stand-alone interbody fusion devices for engagement between adjacent vertebrae. The stand-alone interbody fusion devices may include frames and one or more endplates coupled to the frame. The frame may be configured and designed to provide the apertures which are designed to retain bone fasteners, such as screws or anchors, and secure the implant to the adjacent vertebrae.

Abstract: An expandable interbody fusion device includes superior and inferior endplates that are configured to receive a sequentially inserted stack of interlocking expansion members or wafers. The like-configured wafers include features on their top and bottom surfaces that interlock the wafers in multiple degrees of freedom so that the wafer stack is not disrupted when the fusion device is fully expanded. One of the interlocking features includes a plurality of prongs projecting from an upper surface of the wafers and into a recess defined in the lower surface of an adjacent previously inserted like-configured wafer. The prongs and recesses are configured to prevent retrograde movement of each new wafer in a direction opposite the direction of insertion. Other interlocking features prevent movement in the direction of insertion, transverse to the insertion direction and vertically within the stack.

Abstract: Modular neck components for hip implants having independent variables associated with physical characteristics of the implant, including leg length, offset, and anteversion. During surgery, the surgeon may be confronted with a need to change a preoperatively-chosen modular neck. For example, the surgeon may desire a change in at least one of the variables, e.g., leg length, offset, and/or anteversion. The present disclosure allows the surgeon to quickly and easily select a different modular neck based on an evaluation of one of the variables without requiring reevaluation of the other variables.

Abstract: There is provided a method (100) for aligning and positioning an implant (305). The method (100) comprises creating a reference using a guide (500) configured in accordance with patient specific data; fixing the reference using a reference marker (920) and delivering the implant (305) with an impactor (1005) aligned in accordance with the reference. Guide light emission means (515a) may be employed to create the reference, reference marker light emission means (515b) may be employed to fix the reference and impactor light emission means (515c) may be employed to align an impactor (1005).

Abstract: Provided is a walking assist device independent of a deviation of a bending/stretching state between user's legs and applying a force to a user in a direction intended by the user. The walking assist device performs control so that the larger the deviation of a value of a bending/stretching state variable representing the bending/stretching state of each of a pair of right and left legs of a user P is, the larger the deviation between the assist forces Fr and Fl acting on the user P from each of the leg links 2 is.

Abstract: A ureteral stent comprises an internal portion, which comprises a first polymer, and an external portion, which comprises a second polymer. The external portion surrounds the internal portion and has a plurality of radial projections that extend along the length of the ureteral stent. The second polymer has a Shore D hardness of 20-40 Shore D. The first polymer has a Shore D hardness that is at least 10 units greater than the Shore D hardness of the second polymer.

Abstract: Example stent grafts and methods for placement thereof are provided. An example stent graft may include (a) a main body stent graft defining a lumen that has a first end and a second end, (b) a diaphragm coupled to the main body stent graft, where the diaphragm defines at least three openings and (c) at least three stent graft extensions each defining a lumen, where a first end of each of the three stent graft extensions is coupled to one of the three openings.

Abstract: A modified double helical and braided (platted) helical wire stent is described that provides for uniform collapsing and expansion of the stent body such that the stent collapses and expands in a uniform, predictable manner, reduces foreshortening, and is durable, stable, and reliable.

Abstract: Various stents and stent-graft systems for treatment of medical conditions are disclosed. In one embodiment, an exemplary stent-graft system may be used for endovascular treatment of a thoracic aortic aneurysm. The stent-graft system may comprise proximal and distal components, each comprising a graft having proximal and distal ends, where upon deployment the proximal and distal components at least partially overlap with one another to provide a fluid passageway therebetween. The proximal component may comprise a proximal stent having a plurality of proximal and distal apices connected by a plurality of generally straight portions, where a radius of curvature of at least one of the proximal apices may be greater than the radius of curvature of at least one of the distal apices. The distal component may comprise a proximal z-stent coupled to the graft, where the proximal end of the graft comprises at least scallop formed therein that generally follows the shape of the proximal z-stent.

Abstract: Expandable scaffolds or stents include circumferential elements having a corrugated pattern, which can include a plurality of linear or nonlinear segments. The corrugated pattern distributes stress more uniformly along the circumferential elements, improves radial strength of the scaffolds, reduces acute recoil after deployment, and reduces creep. The scaffolds can be made from a bioabsorbable material.

Abstract: A stent designed to reduce risk of restenosis opens peripherally within a blood vessel so that, when deployed, a periphery of the stent has a longitudinal opening spanning a length of the stent, the longitudinal opening spanning between 30 and 170 degrees. The stent does not scrape or penetrate the blood vessel wall when it opens because the peripheral surface of the stent slides along an interior blood vessel wall without leading edges of the peripheral surface contacting the interior blood vessel wall.

Abstract: An delivery device including an inner tube having an inner tube proximal end region and an inner tube distal end region, the inner tube distal end region comprising a first retaining mechanism; a middle tube having a middle tube distal end region and a middle tube proximal end region and defining a middle tube lumen, the inner tube disposed within the middle tube lumen; and an outer tube having an outer tube proximal end region and an outer tube distal end region and defining an outer tube lumen, the middle tube disposed within the outer tube lumen, the outer tube distal end region comprising a second retaining mechanism; wherein the inner tube is structured and arranged to displace proximally and distally relative to the middle tube, and wherein the outer tube is structured and arranged to displace proximally and distally relative to the middle tube. A method of deploying an endoprosthesis is also disclosed.

Abstract: Systems and methods for addressing the percutaneous intervention related trauma to the vessels that arise from type-III hostile aortic arches, from uncontrolled prolapse of sheaths, embolic protection devices and stent delivery systems, by stabilizing the systems while stenting of the left and right carotid arteries. Guide wires to stabilize catheters used to access the left or right carotid arteries (CA) for carotid percutaneous intervention of the vessels originating from a tortuous aortic arch are disclosed. A bifurcated catheter for stabilizing the catheters is also disclosed. The bifurcated catheter has a main catheter that divides into two separate catheters forming a “Y” shape. One leg of the catheter has a smaller diameter with a smaller working lumen (inner diameter) to carry the stabilizing wire and the other leg of the catheter has a larger working lumen for arterial stenting operations.

Abstract: A catheter configured to carry one or more stents and having an inflatable balloon for expanding a stent surrounding the balloon. The catheter is characterized in having a positioner for moving the one or more stents relative to the balloon from a first position in which the stent does not surround the balloon to a second position in which the stent surrounds the balloon. Also disclosed is a method for deploying a stent at a desired location in the vascular system.

Abstract: A prosthesis delivery device comprises a cannula having an expandable positioning device disposed at the proximal end thereof. A prosthesis is retained on the cannula distal of the expandable device. Expansion of the expandable device retains and centers the delivery device and the prosthesis carried thereon in the vessel and allows repositioning of the prosthesis without contacting the proximal end of the prosthesis with the vessel walls prior to deployment.

Abstract: Devices and systems to fit around a tissue or organ and methods of using the same. In at least one embodiment of an implantable device of the present disclosure, the implantable device comprises a first engaging component comprising a first rigid inner plate at least partially surrounded by a first flexible coating, a second engaging component comprising a second rigid inner plate at least partially surrounded by a coating selected from the group consisting of the first flexible coating and the second flexible coating, a first c-ring and a second c-ring coupled to the engaging components, and a cover flap coupled to either the first engaging component or the second engaging component and capable of either further coupling to the second engaging component when initially coupled to the first engaging component or further coupling to the first engaging component when initially coupled to the second engaging component.

Abstract: Intentions of a user are read from movements of the joints of the user without the use of a myoelectric sensor, and a force to support motions of the user is generated. Even if there is friction that is difficult to model in a gear portion of a joint actuator, the friction is compensated for, and joint units are controlled to follow an idealized mathematical model. In this manner, the force to support motions is generated, without giving any uncomfortable feeling to the joints of the user wearing the device. When motions of the user are supported, a mathematically-determined torque is applied to the joint units, so that a natural supporting force is constantly provided to the user in various circumstances.