Abstract: An oral hygiene instrument includes a handle for gripping by a user and a dental floss assembly coupled with the handle. The dental floss assembly includes a support frame and a length of dental floss attached to the support frame for flossing between teeth. The support frame is selectively rotatable relative to the handle around an axis of rotation.

Abstract: A dental suction arrangement which removes saliva and other fluids from a person's oral cavity. The suction arrangement includes a suction tube and an absorption body to be placed in the oral cavity. The suction tube includes a suction part which is arranged in the absorption body and which is equipped with a hole organs or elements communicating with the absorption body. The suction arrangement is made of elastically deformable material in order to adapt to the anatomical shape of the bottom of the mouth.

Abstract: A manually-wound or charged, powered toothbrush includes a winding mechanism, an energy storage element, and an output gear train to cause a rotating, oscillating or sweeping brush head to move, thus improving the efficacy of the user's oral-care regimen. The toothbrush may include a removable, replaceable brush head that includes a clip that also serves as a removal tool for a spent brush head.

Abstract: A surgical device for identification of a surgical site of interest, such as a craniofacial or dental site (root apex of an identified tooth), and a method for using the device is provided. The device includes a perimeter bar and a plurality of intermediate cross bars arranged in a grid structure. The device can be used during a surgical procedure requiring enhanced precision, such as during an endodontic surgical procedure, by positioning the device next to a patient's tooth and capturing a CBCT image, the CBCT image being used to identify a drilling location. The device can be repositioned alongside the patient's tooth, and used to identify an accurate drilling position.

Abstract: The invention relates to an oral care device for teeth whitening or other purpose. The device is designed to provide a uniform light intensity distribution at the teeth by use of a light mixing chamber of a mouthpiece comprised by the oral care device. The mouthpiece comprises a sealing structure with rims designed to connect to the gums of a user. At least apart of the rim and a closure of the mouthpiece surrounded by the rim are reflective. When light is emitted into the mouthpiece, the light will be reflected by the reflective rim, the reflective closure and the buccal side of the teeth. Accordingly, the light will be reflected multiple times, which makes the intensity distribution more uniform. Additionally, the mouthpiece may comprise light redirection structures arranged to redirect light rays from light injected into the mouthpiece.

Abstract: Pellet delivery systems capable of reliably and precisely delivering pellets over a large area are disclosed. In some examples, the system can deliver one or more pellets in one delivery cycle using a slide chamber. In other examples, the system can deliver one or more pellets per delivery cycle using a rotating disk comprising one or more holes. In any of these examples, the system can eject the pellets using a projector and/or gravity. The pellet delivery system can, in various examples, be utilized in conjunction with a carrier such as an airborne, terrestrial or aquatic vehicle, or in other examples with a human or animal carrier. Examples of the disclosure are also directed to precise pellet delivery based on the location of the pellet deliver system, pellet delivery tracking, adjusting pellet delivery, and determining paths for efficient pellet delivery.

Abstract: A bodily fluid transporting unit that includes a container with a syringe housing and a refrigerant pack in the container. The container is covered by a lid and the engagement of the container and the lid results in an air-tight and moisture-tight bodily fluid transporting unit.

Abstract: Aspects of the disclosure relate to synthetic tissue or organ scaffolds and methods and compositions for promoting or maintaining their structural integrity. Aspects of the disclosure are useful to prevent scaffold damage (e.g., delamination) during or after implantation into a host. Aspects of the disclosure are useful to stabilize tissue or organ scaffolds that include electrospun fibers.

Abstract: An attachment configuration for a vascular filter assembly including a self-expanding filter member attached to a catheter body and constrained from expansion in a first configuration by a constraining sheath is presented. The attachment configuration includes an outer tube of material that is overlaid over an end of the filter member and bonded to the catheter body through cutouts disposed through the end of the filter member.

Abstract: A blood filter delivery system for delivering a filter into a vein includes an introducer and a push rod with a spline member disposed along the push rod. The spline member has a main body, and first and second boss portions spaced apart along the longitudinal axis to provide a gap for retaining anchor member of the filter during delivery via the introducer.

Abstract: A vascular repair device assembly includes a main prostheses, first internal prostheses, an optional second internal prostheses, and at least two sub-prostheses. Methods for delivering vascular repair devices include delivering a vascular repair device through a blood vessel to the aneurysm site, aligning a proximal open end of a main prosthesis cranially to the site of the aneurysm patient and directing a distal end of at least one additional one vascular repair device through a proximal end of at least a first internal lumen, and aligning the proximal end of the additional vascular repair device into a distal end of the at least one sub-prosthesis.

Abstract: The present invention relates to a stent graft for implantation in vessels of a patient, wherein the stent graft has a hollow cylindrical main body made of a first prosthesis material, with a proximal end and a distal end, with a longitudinal axis c and a circumference u, at least one pocket element which is made of a second prosthesis material and which is mounted circumferentially on the outer face and/or inner face of the main body in order to form a circumferential closed pocket on a longitudinal portion of the main body, and at least one stent element which extends in a meandering formation around the main body and is received inside the pocket element.

Abstract: A system for an anatomical joint includes a first fastener, a second fastener, a prosthetic ligament member, and a biasing member associated with at least one of the first and second fasteners. The first fastener is operable to be connected to a first bone portion. The second fastener is operable to be connected to a second bone portion. The prosthetic ligament member is flexible and is directly coupled to both the first and second fasteners to support the first bone portion and the second bone portion for relative movement. A portion of the prosthetic ligament member extends from the first fastener to the second fastener and has an adjustable length. The biasing member is operable to bias the prosthetic ligament member to thereby maintain tension in the prosthetic ligament member.

Abstract: An implant has a soft tissue attachment structure, and a surface defining a trough. An ingrowth plate spans a portion of the trough and defines a suture tunnel between the ingrowth plate and the trough for receiving suture. The ingrowth plate bows convexly away from the surface and is perforated to facilitate long-term ingrowth and biologic fixation of soft tissue to the implant.

Abstract: A tear shaping structure or structures that shape a tear film of an eye thereby enabling a desired refractive effect. The tear shaping structure includes a supporting structure supporting a plurality of capillary action members, the capillary action members being spaced apart and arranged in such a way as to create a desired refractive lens effect by shaping the tear film of an eye.

Abstract: A tear shaping structure or structures that shape a tear film of an eye thereby enabling a desired refractive effect. The tear shaping structure includes a supporting structure supporting a plurality of capillary action members, the capillary action members being spaced apart and arranged in such a way as to create a desired refractive lens effect by shaping the tear film of an eye.

Abstract: A prosthesis configured to be implanted in a cornea of an eye, to interconnect host tissue with a corneal graft, is disclosed herein. The prosthesis can include a body and a slit. The body can extend between first and second ends. The body can define a section of maximum width between the ends. The body can narrow at the ends and converge to first and second tips. The slit can be defined in the body at the first end and can have a width. A portion of the body between the second tip and the section of maximum width can have a width that is less than the width of the slit, whereby the portion of the body between the second tip and the section of maximum width is receivable in the slit.

Abstract: A lens configured for implantation into an eye of a human can include an optic including transparent material. The optic can have an anterior surface and a posterior surface. The anterior surface can be convex and the posterior surface can be concave such that the optic is meniscus shaped. Each of the convex anterior surface and the concave posterior surface can have a surface vertex. The optic can have an optical axis through the surface vertices and a thickness along the optical axis that is between about 100-700 micrometers. The lens can also include haptic portions disposed about the optic to affix the optic in the eye when implanted therein. The anterior and posterior surfaces can include aspheric surfaces.

Abstract: A two-part accommodating intraocular lens (IOL) device for implantation in a capsular bag of a patient's eye. The IOL device includes a primary lens assembly and a power changing lens. The primary lens assembly includes a fixed lens and a peripherally disposed centration member. The centration member has a circumferential distal edge and a first coupling surface adjacent the circumferential distal edge. The power changing lens has an enclosed, fluid- or gel-filled lens cavity and haptic system disposed peripherally of the lens cavity. The haptic system has a peripheral engaging edge configured to contact the capsular bag and a second coupling surface. The first and second coupling surfaces are in sliding contact with one another to permit movement of the power changing lens relative to the primary lens assembly and also to maintain a spaced relationship between the fixed lens and the lens cavity during radial compression of the power changing lens.

Abstract: An artificial eye lens (1) having an optical part (2) which has a first optical side (4) and an opposite, second optical side (5). The optical part (2) has a diffractive grating structure that contributes to an optical imaging property of the optical part (2). The diffractive grating structure is an amplitude grating (6) formed in the optical part (2) as a laser structure. A method for producing an artificial eye lens (1) where the amplitude grating (6) is produced with a laser apparatus (17), and a pulsed laser beam (22) having a pulse length of between 100 fs and 20 ps, a wavelength of between 320 nm and 1100 nm, a pulse repetition rate of between 1 kHz and 10 MHz, a focus diameter of less than 5 ?m, and a power density of greater than 106 W/cm2.

Abstract: An example implant system to treat glottic insufficiency is disclosed. The implant system includes a fixation frame including a first set of flanges at a first edge of the fixation frame and a second flange at a second edge of the fixation frame, wherein the fixation frame is configured to secure the implant system at an opening of the patient's thyroid cartilage, a port system disposed in the fixation frame and configured to receive, deliver, maintain, or remove a filler, and a flexible member, coupled to the fixation frame and in fluid or air communication with the port system, wherein based on an amount of the filler in the flexible member, the flexible member is configured to inflate in a direction to push against the patient's arytenoid cartilage so the arytenoid cartilage is rocked, adducted and/or rotated inferomedially.

Abstract: The invention provides methods, devices and systems for delivering, positioning and/or repositioning an expandable prosthetic heart valve in a patient's heart chamber. At least one non-looped wire and looped wire pair is operatively connected with an expanded prosthetic heart valve that is collapsed within a delivery catheter lumen having its distal end positioned in the subject heart chamber. The collapsed prosthetic heart valve is translated through the delivery catheter lumen to and out of its distal end where the prosthetic heart valve expands to a working configuration. The wire(s) of the non-looped and looped wire pair may be manipulated by pulling proximately or pushing distally to position or reposition the expanded prosthetic stent into position, then released from connection with the positioned stent and withdrawn from the patient.

Abstract: The present invention relates to a radially collapsible frame (1) for a prosthetic valve, the frame (1) comprising an outflow end region (3) at a proximal end of the frame (1) and an inflow end region (2) at a distal end of the frame (1), opposite to the outflow end region (3). The frame (1) further includes at least two radially spaced commissure attachment regions (10, 10?, 10?) and a cell structure (30), composed of a plurality of lattice cells being arranged radially around a flow axis of the frame (1) and connecting the at least two commissure attachment regions (10, 10?, 10?). Finally, at least one anchoring/positioning arch (20, 20?, 20?) is provided, wherein said at least one anchoring/positioning arch (20, 20?, 20?) radially overlaps the cell structure (30) at least partially.

Abstract: Anchor devices and methods used to secure a prosthetic valve to a native valve annulus are described. The anchor device can be a separate expandable element from the prosthetic valve that is first advanced to the annulus and deployed, after which an expandable prosthetic valve is advanced to within the annulus and deployed. The combination of the two elements can apply a clamping force to the valve leaflets which holds the prosthetic valve in place. The anchor device can have a lower or ventricular portion and an upper or atrial portion. The anchor device can include one or more leaflet clamping portions. One, two, or more upstanding vertical posts between the clamping portions can extend upward at the valve commissures and support the upper portion, which can include one or more structures for leak prevention.

Abstract: A modular prosthetic valve device for implantation in a patient and a system for and method of delivering such a modular valve device and assembling it in vivo are disclosed. The valve device is designed as two or more modules to be delivered unassembled, spatially separate, and combined into an assembled valve device in the body at or near the site of implantation. The valve device of the invention is deliverable as modules, providing a smaller delivery diameter than pre-assembled percutaneous valves, permitting use of a delivery device of reduced diameter, and increasing the flexibility of the valve device during delivery, compared to percutaneous valve devices in the art. The modules of the valve device may be connected by pull wires for delivery sequentially, and then assembled by remote manipulation using the pull wires. Various locking mechanisms are provided for attaching the device modules together.

Abstract: An annuloplasty band and method of implantation. The band is shaped and sized to avoid the adjacent aortic valve structure and better protects against dehiscence along the muscular mitral annulus. The band is asymmetric and when implanted spans more around the side of the mitral annulus having the posterior commissure than the side with the anterior commissure. The band has a saddle shape with a posterior upward bow centered on a minor axis of the mitral annulus, and a span extending clockwise therefrom is longer than a span extending counter-clockwise. The longer span may be 150° while the shorter span extends 90°. A set of rings may have different saddle profiles and different plan view shapes for different sized bands. A method includes implanting so that the band extends over the posterior leaflet and a short distance past the posterior commissure outside of the anterior leaflet.

Abstract: An apparatus for stabilizing a prosthetic heart valve within an atrioventricular valve includes a collapsible and expandable stent having an inflow end, an outflow end, and struts forming a plurality of cells connected to one another in a plurality of annular rows around the stent. The stent further includes a collapsible and expandable valve assembly secured to the stent. The valve assembly includes a cuff and a plurality of leaflets having an open configuration and a closed configuration. A cord connected to the stent includes an attachment device adapted to couple the stent to heart tissue of a patient. A method of stabilizing a prosthetic heart valve within an atrioventricular valve annulus is also described.

Abstract: The device (1) comprises: A first assembly (6) engageable with a handle under the control of control means for the actuation of the assembly for the placement and attachment of an artificial cord (7) on the papillary muscle (8) of a ruptured cord, said assembly is arranged at the end of a manipulation rod and comprises an elastic staple (9) connected pivotably and removably at the end of the rod so as to pass, under the action of the control means, from a position folded back along the rod to a position swung angularly relative to the rod for coming into place perpendicularly in front of the papillary muscle where the cord must be replaced, the first assembly (6) comprises means for opening the staple (9) in order to, under the action of the command means, anchor the papillary muscle (8) for the ruptured cord, the first assembly (6) comprises means for unlocking with which, under the action of the command means, to release the staple (9), said staple (9) being connected to an artificial cord (7) which goes

Abstract: Embodiments of the present disclosure provide an apparatus for testing a plurality of prosthetic heart valve leaflets. The apparatus includes a vertical mount, and a plurality of horizontal bars are movably coupled to the mount. Each bar extends away from the mount along a respective bar-axis that lies on a respective vertical bar-plane. Each bar is configured to support a respective leaflet along the respective bar-axis such that the respective leaflet drapes over the respective bar. The apparatus further includes an image sensor, positioned opposite the mount, facing the plurality of bars and the mount so as to be oriented to acquire an image that includes the plurality of leaflets draped over the plurality of bars. Other embodiments are also described.

Abstract: Provided herein is a method of forming a ventricular support device for a diseased heart, including providing imaging data of the diseased heart, forming a three-dimensional (3D) heart model based on the imaging data, providing strain data including a plurality of strain estimates for at least one segment of the diseased heart, mapping the plurality of strain estimates onto corresponding portions of the 3D heart model to form a 3D diseased heart model, based on the 3D diseased heart model, forming a model of the ventricular support device configured to surround at least a portion of the diseased heart and provide support based upon said strain estimates, and converting the model of the ventricular support device to a digital file useful for directing a 3D printer device to print said ventricular support device for said diseased heart. Also provided is a customized ventricular support device so produced.

Abstract: Embodiments of the present disclosure include a method of transcatheterly delivering a band to encircle multiple papillary muscles in a heart. The method may comprise transcutaneously inserting a catheter into a heart and delivering a first end of a first guidewire to a ventricle in the heart via the catheter. The method may further comprise looping a first end of a first guidewire around a first papillary muscle and a second end of a second guidewire around a second papillary muscle. The first end of the first guidewire and the second end of the second guidewire may be brought out of the body while the first and second guidewires remain looped around the first and second papillary muscles, respectively. The first and second guidewires may be interconnected, and at least one end of the first and second guidewires may be pulled to establish a single loop around the papillary muscles.

Abstract: This invention is related to the device used in the valve sparing aortic root replacement which is a special operation aimed at the root of the main vessel—aorta originating from the heart or known as ‘David Procedure’ (Re-implantation technique) in the literature.

Abstract: A ceramic acetabular cup (10) devoid of a separate liner comprises a part-spherical inner articulating surface (12) for non-captively receiving a femoral head, and an outer surface (14) for enabling direct to bone fixation. An inner radius at or adjacent to a rim (22) of the cup (10) extends to or adjacent to a surface edge of the inner articulating surface (12) to prevent or reduce undesirable effects of impingement of an associated femoral head and/or neck. An inner radius of the inner articulating surface (12) defines an active arc (A) over which an in use femoral head can articulate, and an uppermost portion of the rim (22) defines an offset datum plane (D). An offset (O) between an equatorial centre (E) of the inner articulating surface (12) and the offset datum plane (D) is in a range of around 1 mm towards a pole (24) of the inner articulating surface (12) and around 3.5 mm away from the said pole (24).

Abstract: The present invention comprises an implantable knee prosthesis for the arthritic, aging, ligament-deficient knee having a femoral component, a tibial component and patella component forming three interactive knee compartments mainly the lateral, medial, and femoral patellar compartments articulating together with a variable axial pivot type of knee motion. This novel design accomplishes this motion pattern with four femoral component radii coacting with four reciprocal proximal tibial surface recesses. This occurs in a laterally congruent axial pivot fashion during the first half of knee flexion creating efficient external femoral rotation to align the femoral-patellar groove with the patella/quadriceps muscle complex.

Abstract: The invention relates to an ankle prosthesis including a talar implant, a tibial implant, and an intermediate implant designed to be mounted to move relative to said talar implant in order to impart mobility to the ankle, said prosthesis further including embedded adjustment structure designed to alternate between a releasing state, in which they allow the intermediate implant to move relative to the tibial implant, and a locking state, in which they hold the prosthesis in the chosen assembly configuration, said prosthesis being characterized in that said adjustment structure can be controlled to be operable while the prosthesis is in the assembled state in vivo.

Abstract: An anatomically fitted talar component for use in an ankle replacement system having a body including a talar surface having a portion contoured to approximately or exactly fit with a surface portion of a three dimensional rendering of bone of a talar dome; and a tibial surface configured for forming a joint with a second component of the ankle replacement system. A method of forming the talar component by: (i) obtaining image data of the talar dome, (ii) using the data to create a three-dimensional model of the talar dome, and (iii) forming a body having a talar surface that approximately or exactly fits with a portion of the surface of the three-dimensional model.

Abstract: A spinal implant has proximal and distal regions, and includes upper and lower bodies. A proximal adjustment assembly is disposed between the upper and lower bodies in the proximal region of the spinal implant and is adjustably coupled to the upper and lower bodies, and a distal adjustment assembly is disposed between the upper and lower bodies in the distal region of the spinal implant and is adjustably coupled to the upper and lower bodies. The proximal and distal adjustment assemblies are independently movable with respect to each other, both concurrently and alternately, to change a vertical height of at least one of the proximal or distal regions of the spinal implant. A set screw is removably disposed within the proximal region of the spinal implant to lock the vertical height of the proximal and distal regions of the spinal implant.

Abstract: Disclosed are devices for the fixation and support of vertebrae, particularly adjustable spinal implant devices.

Abstract: This surgical ankle repair method comprises the steps of providing an instrumentation assembly for positioning an ankle prosthesis, the instrumentation assembly including a talar alignment instrument and a cutting block, the talar alignment instrument comprising a front portion and two fins extending from the ends of the front portion, said fins being adapted to be positioned in gutters extending below a tibia of a patient and around a trochlea of a talus of the patient, each fin including a reference marker, the cutting block comprising a tibial alignment structure and a recess which engages a protrusion provided on the talar alignment instrument, positioning the talar alignment instrument such that the fins are disposed in the gutters extending below the tibia and around the trochlea of the talus; aligning the talar alignment instrument so that the fins are parallel to the rotational plane of the talus, perpendicular to the rotational axis of the talus, and so that the reference markers are aligned with a l

Abstract: A method of total hip arthroplasty using a direct anterior approach to prepare an acetabulum of a patient for implantation of an acetabular cup implant, the method including providing a positioning instrument, forming a main incision substantially over the acetabulum, the main incision having a length of about the size the acetabular shell to be implanted, placing the positioning instrument in the main incision such that the shell of the positioning instrument rests in said acetabulum of the patient, and using a guide bore of the instrument to locate and form a portal incision, the portal incision communicating with the main incision. A cannula is inserted through the portal incision, such that a proximal end of the cannula extends from the portal incision and a distal end of the cannula is adjacent to and in communication with the acetabulum and main incision. The cannula is used to prepare the acetabulum and implant the final implant.

Abstract: The present invention involves systems and related methods for performing surgical procedures and assessments, including the use of neurophysiology-based monitoring to: (a) determine nerve proximity and nerve direction to surgical instruments employed in accessing a surgical target site; (b) assess the pathology (health or status) of a nerve or nerve root before, during, or after a surgical procedure; and/or (c) assess pedicle integrity before, during or after pedicle screw placement, all in an automated, easy to use, and easy to interpret fashion so as to provide a surgeon-driven system.

Abstract: A bone mill includes a housing, at least a first bone milling tool, a proximal bearing sleeve, and a distal bearing sleeve. The housing defines a work chamber. The work chamber has a first axial end, a second axial end, a feed input opening, and an output opening. The bone milling tool is configured to be disposed within the work chamber, and extends at least from a first axial end to the second axial chamber. The proximal bearing sleeve is supported by the housing proximate the first axial end, and a distal bearing sleeve supported by the housing proximate the second axial end. The proximal bearing sleeve and the distal bearing sleeve support the bone milling tool and allow rotation of the bone milling tool within the work chamber about an axis.

Abstract: A baseplate trial holding apparatus which holds a baseplate trial disposed in a proximal tibia during total knee arthroplasty or revision total knee arthroplasty, and includes a keel location setting part for setting an insertion location of a keel punch, and a knee joint implant surgical instrument set including the same.

Abstract: A method of performing joint arthroplasty includes accessing a surface on a bone and supporting a stop with the accessed surface. The method includes positioning an instrument at least partially within the stop, the instrument having a body and a punch, the punch including a portion thereof having a shape similar to a shape of a stem of an implant, and rotating the stop with respect to the accessed surface based upon an indicia on one of the body and the stop so as to position the punch rotationally with respect to the accessed surface at a first orientation. The method further includes moving the body axially with respect to the stop to form a cavity in the bone with the punch at the first rotational orientation, the formed cavity having a shape similar to the stem of the implant, and implanting the stem of the implant into the cavity.

Abstract: The invention relates to a method for manufacturing a breast prosthesis, in which a first dispersion of a first granular material is introduced into a cross-linkable silicone compound. The silicone compound subsequently is cured in order to form a prosthesis body, wherein the prosthesis body is heated to a shrinking temperature which lies above the melting point of the thermoplastic material.

Abstract: A compliant prosthetic foot is designed and fabricated by combining a compliant mechanism optimization technique with a calculation of low leg trajectory error under a reference loading condition. The compliant mechanism optimization technique includes a set of determinants for the compliant prosthetic foot. An optimized set of determinants of the compliant prosthetic foot is formed that minimizes the lower leg trajectory error relative to a target kinematic data set. The compliant prosthetic foot is then fabricated in conformance with the optimized set of determinants.

Abstract: The present invention relates to a foot prosthesis (1, 61) comprising a heel (6, 71) and a tip (7, 62), both of which can bear on the ground, and an ankle support (2, 67), characterised in that the prosthesis also comprises at least one damping element (10, 76) designed to be at a distance from the ground.

Abstract: An attachment system for use with a prosthetic device includes a first component including a first surface, and further including one of a channel and a projection disposed on an opposite side of the first component than the first surface. A second component including a second surface, and including the other of the channel and the projection disposed on an opposite side of the second component than the second surface, the other slidably engaging the channel or the projection to selectively couple the first component and the second component together. One of the first surface and the second surface is operable to be attached to the prosthetic device, and the other is operable to be attached to a sole structure having a ground-engaging surface.

Abstract: A prosthetic system includes first and second parts rotatable relative to one another about a joint. The first and second parts are adapted to form at least part of a weight bearing connection between a prosthetic foot and a socket. A pump system includes a pump mechanism operatively connected to the first and second parts. Rotation of the first part and/or the second part about the joint moves the pump mechanism between an original configuration in which the volume of a fluid chamber defined by the pump mechanism is zero or near-zero, and an expanded configuration in which the volume of the fluid chamber is increased.

Abstract: In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle.