Abstract: A mobility and exercise system includes a user support platform, a leg platform connected to the user support platform, a first linearly movable mount and a second linearly movably mount each coupled to the leg platform and movable relative to the leg platform in two directions parallel to a longitudinal axis of the leg platform. A first abducting arm and a second abducting arm are coupled to the leg platform, each by a respective hinge. The first and second abducting arms are movable relative to the leg platform by swinging motion away from the longitudinal axis and back toward the longitudinal axis. A first foot cradle is mounted on the first linearly movable mount or the first abducting arm, and second foot cradle is mounted on the second linearly movable mount or the second abducting arm.

Abstract: A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit (26) for a mobile robot (1) includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp(1) to Pzmp(7)) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP(1) to SP(7)) which is defined on the basis of a current time's supporting region (Sd1 to Sd7), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sd2 to Sd8), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.

Abstract: An exoskeleton designed to be worn by a user is generally configured to support and transfer the load supported by the head, the neck and/or the torso (shoulders, chest and/or back) of the user down to the ground. The exoskeleton is generally passive and comprises at least three interconnected sections: torso, hip, and leg sections. Each of the sections generally comprises of a plurality of interconnected rigid members which form the load-bearing structure of the exoskeleton. When a user wears the exoskeleton, load normally carried by the head, neck and/or torso of the user is at least partially supported and transferred to the ground by the exoskeleton, thereby reducing the load effectively supported by the user itself. The leg sections of the exoskeleton are designed to ensure that the load-bearing final location is located on the inner side of the feet, in accordance with human biomechanics.

Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.

Abstract: A system for resuscitation of a heart attack victim. The system includes CPR device which compresses the victim's chest, a defibrillator which may be used to defibrillate the patient, and an identification system for identifying the person operating the system. Depending on the identity of the operator, the system permits varying degrees of access to components and enablement of the functions of the various subsystems.

Abstract: A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.

Abstract: In a walking assistance device (10) that can transmit the power generated by a power generator (26, 28) to a femoral part of a user, a swing arm (60, 62) is attached to an output member of the power generator at a base end thereof, and is connected to a femoral support plate (68, 70) at a free end thereof via a pivot joint (64). The pivot joint includes a spherical projection (100) provided on the free end of the swing arm and a socket (112) provided on the femoral support plate, the socket defining a spherical recess (110) configured to receive the spherical projection to permit a tilting movement of the femoral support plate at least in two directions with respect to the free end of the swing arm. Thereby, the femoral support plate is enabled to accommodate the build and/or the movement of the femoral part of the user.

Abstract: Second joints are provided in positions where a seating unit is restrained from swinging relative to leg links due to a force acting on the seating unit from upper limb links through the intermediary of the second joints. A motion not intended by a user can be restrained from being generated due to a force acting from the upper limb links provided in the upper limbs.

Abstract: Disclosed and claimed herein is an improved leg brace having a thigh frame, a shank frame, a knee assembly rotatably coupling the thigh frame to the shank frame, and a shoe component attached to the shank frame; the knee assembly having a spring, clutch, means for engaging the clutch; and programmable means for engaging the clutch at a selected angle between the thigh frame and shank frame.

Abstract: An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

Abstract: A mobility and exercise system includes a user support platform, a leg platform connected to the user support platform, a first linearly movable mount and a second linearly movably mount each coupled to the leg platform and movable relative to the leg platform in two directions parallel to a longitudinal axis of the leg platform. A first abducting arm and a second abducting arm are coupled to the leg platform, each by a respective hinge. The first and second abducting arms are movable relative to the leg platform by swinging motion away from the longitudinal axis and back toward the longitudinal axis. A first foot cradle is mounted on the first linearly movable mount or the first abducting arm, and second foot cradle is mounted on the second linearly movable mount or the second abducting arm.

Abstract: A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a particular application, the orientation of a stance leg is used to determine when the user wants to initiate a step, as well as when the user is in a safe position from which to take a step. The invention has particular applicability for use in enabling a paraplegic user to walk through a controlled operation of a human exoskeleton coupled to the user's lower limbs. A controller receives inputs regarding a motion desired by the user, determines the desired motion and then controls the movement of the user's legs or limbs through actuation of the exoskeleton.

Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

Abstract: A control system for an exoskeleton for a limb of a user wherein the limb has an upper portion connected to the body of a user and a lower limb portion is provided. The control system controls operation of one or more drive motors that rotate one or more joints of the exoskeleton. Input signals from pressure sensors and positional sensors are monitored and, when the input signals fall within expected values, one or more control actions may be implemented.

Abstract: A wearable action-assist device includes a biosignal detection unit detecting a biosignal from a wearer, an action-assist wearing tool having a drive source supplying a torque acting on the wearer around each joint of the wearer as an axis of rotation, a control unit controlling the drive source to generate the torque according to the detected biosignal, a drive torque estimation unit estimating a drive torque generated by the drive source, a joint-angle detecting unit detecting an angular displacement of the joint, and a parameter identification unit identifying kinetics parameters concerned by substituting the estimated drive torque and the detected angular displacement into an equation of motion of an entire system including kinetics parameters intrinsic to the wearer. The control unit is configured to control the drive source according to a predetermined control method based on the equation of motion into which the identified parameters are substituted.

Abstract: A treadmill for providing walking rehabilitation to a rehabilitee is provided. The treadmill includes a base including a belt, a motor interconnected with the belt, and a walking rehabilitation device interconnected with the base. The motor causes the belt to rotate in a first direction. The walking rehabilitation device includes a user engagement structure configured to be removably secured to one or more locations of a rehabilitee's extremities. The walking rehabilitation device further includes a transmission interconnecting the motor and the user engagement structure, the transmission transferring motion from the motor to the rehabilitee via the user engagement structure, allowing the rehabilitee to walk along the belt.

Abstract: A walking movement device is provided for producing a walking movement of a human being with two controlled foot guiding units, each having a foot plate for placing a foot thereon. The foot plates are alternately movable forward and backwards in opposite directions to stimulate the walking movement. The foot plates are coupled with at least one drive unit, via which drive unit the walking movement of the foot plates can be produced, and have a suspension unit for easing the weight on the human being. The foot plates each have a front and a rear partial area with the at least one drive unit being configured to move the rear partial area out of the common plane with respect to the front partial area and back again during the walking movement of the foot plates, in order to enable bending of the midfoot toe joint during the movement process.

Abstract: A functional electrical stimulation step and stand system comprising two footplates (left and right) connected to a primary drive motor that cause the footplates to move in a reciprocal motion. The footplates are further connected to corresponding servos, which allow for control of the movement of the footplate with respect to an axis. system comprises an electrical stimulation control unit. The stimulation step and stand system further comprises a control unit that has electrical stimulation leads connected to electrodes that deliver an electrical impulse to a patient's muscles. In a further embodiment, the control unit has one or more wireless stimulators.

Abstract: Gait training apparatus and method for use thereof for providing leg swing assistance to a patient. The apparatus comprises a support structure and one or more leg orthoses attached to the support structure, each leg orthosis comprising a thigh member attached to the support structure at a hip joint, and a shank member attached to the thigh member at a knee joint. Both members have respective connectors for securing them to the corresponding body parts of the patient. The hip joint and knee joint are each biased by biasing members. The support structure may comprise a frame defining a patient activity region, including a base, a back support, a pair of support handles, and a weight support member mounted above the activity region. A method of using the device comprises selecting parameters for the biasing members using information about the patient.

Abstract: A walking assistance device includes a seating member configured to provide seating for a user to sit astride, and leg links connected to the seating member. The seating member includes: a supporting member configured to support the user sitting on the seating member from below the seating member; a movable member configured to contact an inguinal region of the user supported by the supporting member and to be movably supported by the supporting member; and at least one elastic member provided between the movable member and the supporting member and configured to be deformable in accordance with a force applied from the inguinal region of the user to the movable member.

Abstract: A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

Abstract: The gait rehabilitation robot having a passive mechanism includes: a first auxiliary link member connected to a portion between the pelvis and the knee of a rehabilitating person; a joint coupled to a lower end of the first auxiliary link member; a second auxiliary link member coupled to the lower end of the joint and connected to a portion between the pelvis and the knee of the rehabilitating person; a first spring coupled to an upper end of the first auxiliary link member to prevent introversion and extroversion of a hip point from occurring when the rehabilitating person is walking; a foot support which comes into contact with the foot of the rehabilitating person; an ankle joint for connecting the foot support and the second auxiliary link member; and a second spring coupled to a side of the foot support to compensate an entropion angle.

Abstract: A method for gait rehabilitation, comprising, identifying at least one deficient gait element; exercising said deficient gait element individually using a rehabilitation apparatus; and exercising said deficient gait element in concert with at least one other gait element using said rehabilitation apparatus.

Abstract: A wearable action-assist device which assists or executes an action of a wearer by substituting for the wearer is provided with an action-assist tool 2 having an actuator 201 which gives power to the wearer 1, a biosignal sensor 221 which detects a wearer's biosignal, a biosignal processing unit 3 which acquires from a biosignal “a” detected by the biosignal sensor a nerve transfer signal “b” for operating a wearer's muscular line skeletal system, and a myoelectricity signal “c” accompanied with a wearer's muscular line activity, an optional control unit 4 which generates a command signal “d” for causing the actuator 201 to generate power according to the wearer's intention using the nerve transfer signal “b” and the myoelectricity signal “c” acquired by the biosignal processing unit 3, and a driving current generating unit 5 which generates a current according to the nerve transfer signal b and a current according to the myoelectricity signal “c”, respectively, based on the command signal “d” generated by th

Abstract: A coil spring 14 is provided in a leg link 3. In the case where an extent of flexion of the leg link 3 is not more than a predetermined extent, the coil spring 14 applies, to a third joint 8, a first biasing force for preventing the extent of flexion of the leg link 3 from decreasing due to gravity acting on a body weight support device A. In the case where the extent of flexion of the leg link 3 exceeds the predetermined extent, the coil spring 14 applies, to the third joint 8, a second biasing force for decreasing the extent of flexion, where the second biasing force is larger than the first biasing force and increases with an increase of the extent of flexion. This enables a sufficient support force to be generated when standing up from a half-sitting posture or a crouching posture, without significantly interfering with walking.

Abstract: A physical therapy chair. Implementations may include a seat bottom coupled to a chair base adjustable along a z axis. A seat back couples to the seat bottom at an angle to the axis. An arm support slidably couples to the seat back and is fixable at desired positions. An arm has first, second, and third arm portions. The first arm portion pivotally couples to the arm support, the second arm portion rotatably couples to the first arm portion, and the third arm portion rotatably couples to the second arm portion. A leg couples to the seat bottom and has upper and lower leg portions. The upper leg portion has an upper first portion and an upper second portion. The upper first portion pivotally couples to the seat bottom and slidably couples to the upper second portion which slides thereby to change a length of the upper leg portion.

Abstract: Disclosed herein is a gait rehabilitation apparatus including a first frame having a bottom surface which is movable at predetermined speed; a second frame extending upwards from a tip of the first frame; a load support unit which is mounted to an upper end of the second frame and is rotatable about a rotation axis thereof; a connection string, one end of which is connected to the load support unit, and the other end of which is connected to an upper body of a rehabilitant; a safety bar which is connected to the second frame and is rotatable so as to be tilted upwards; and a gait assistance link member which has a structure able to be tilted upwards, and is connected to each leg of the rehabilitant entering onto the first frame to assist rehabilitation training of the rehabilitant through mechanical movement of the gait assistance link member.

Abstract: A load assistance device in which the soldier moves the device, not vice versa, includes a load receptor for receiving load from the mass; a boot clamp for transmitting the load to the user's boot; and a linkage connected between the load receptor and the boot clamp, the linkage having an actuated condition in which the linkage transmits load downward from the load receptor into the boot clamp and having an unactuated condition in which the linkage does not transmit load downward from the load receptor into the boot clamp. At least one sensor senses the user's stride. A computer is responsive to the sensor for controlling movement of the linkage between the actuated and unactuated conditions. The linkage is moved into the actuated condition upon sensing of the commencement of the stance phase of the user's stride and is moved into the unactuated condition in response to sensing of the heel lift phase of the user's stride.

Abstract: The pelvis support device according to an embodiment of the present disclosure is used for a gait rehabilitation robot having a gait assistance link member connected to the leg of a rehabilitator and includes a support frame, one pair of support bars linearly movable along the longitudinal direction of the support frame, a first driving unit for transmitting power so that the support bar moves along the longitudinal direction of the support frame, a ball screw disposed in each support bar, a movable block coupled to the ball screw and linearly movable along the longitudinal direction of the support bar according to the operation of the ball screw, and a second driving unit for transmitting power to drive the ball screw.

Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.

Abstract: A fitness/medical device assisting the movement of the lower limbs during the walking activity is substantially composed of brackets firmly connected to the shoes, a set of substantially rigid rods (7, 7A) connecting the brackets with articulation joints (6, 6A, 8, 8A, 9), elastic or inextensible cables for connecting the brackets, and at least one spring (5) acting between the rods and the connecting cables. The shape and joints of the various components of the kinematic mechanism allows accumulating the energy produced by one of the lower limbs when getting in contact with the ground, in order to give it back to the other lower limb when lifting from the ground, so producing a great reduction of the energy needed in the walking activity and at the same time promoting the acquisition of a correct posture.

Abstract: A wheelchair type robot for use as a walking aid wherein an outer skeleton to be worn on the lower body of a user is combined with a lift and a drive part in a wheelchair form. The drive part is furnished with a drive motor and wheels that are installed on a main frame. The lift is furnished with an outer linear guide that is fixed and joined with the main frame, an inner linear guide that can move up and down along same, an upper chair part that connects with the inner linear guide to enable up and down motion, and a lower chair part that connects with the outer linear guide such that unfolds if the inner linear guide descends and folds if it ascends.

Abstract: A pelvic frame (20) for a walking assistance device (10) is configured to be worn on a pelvic part of a user, and comprises a main frame (22) extending from a lower back of the user to either side of the user, an abdominal belt (30) attached to the main frame at base ends thereof, extending along an inner periphery of the main frame (22) and configured to be detachably passed along an abdominal part of the user, and a pair of stabilizer member (90, 92) each having a base end attached to a free end part of the main frame (22) and a free end engaging the abdominal belt (30). Because the two free end of the main frame (22) are joined by the stabilizer members (90, 92) in cooperation with the abdominal belt (30), the stiffness and mechanical strength of the main frame (22) is effectively enhanced, and the weight of the main frame and material cost can be minimized. Also, the deformation of the pelvic frame (20) during use can be minimized, and this contributes to the comfort of the user.

Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.

Abstract: Powered orthosis systems and methods are disclosed. An orthosis system includes a frame, a trunk brace adapted to be secured to a user's trunk, a trunk joint coupling the trunk brace to the frame, an upper leg brace adapted to be secured to a user's upper leg, a hip joint coupling the upper leg brace to the trunk brace, a lower leg brace adapted to be secured to a user's lower leg, a knee joint coupling the lower leg brace to the upper leg brace, and a controller. The hip joint or knee joint includes an actuator operable to rotate the adjacent braces relative to each other. The controller is programmed to operate the actuator. An orthosis method includes securing a user to the orthosis system, enabling the user to walk while secured to the orthosis system, and actuating the hip or knee actuator to rotate the adjacent braces.

Abstract: A swinging leg pendulum movement aid for walking including a pair of assisting units for a left leg and a right leg each having a drive source for applying a pulling force to an auxiliary force transmission part, a joint angle sensor for detecting a joint angle of user's hip joints, and a control member for driving the drive sources of the respective assisting units corresponding to changes in the joint angle and applying an assistance force in a forward swinging direction to the swinging leg that kicked off a ground so as to aid a pendulum movement of the swinging leg.

Abstract: An actuator is reduced in weight without impairing a walking assist function, and this reduces the inertial moment of a leg link. A drive crank arm on the output shaft of the actuator and a driven crank arm fixed to a second link portion so as to be concentric to the joint shaft of a third joint portion are connected to each other via a connection link. The connection link is placed so that a line connecting a pivot portion at which the drive crank arm is pivotally mounted and a pivot portion at which the driven crank arm is pivotally mounted obliquely crosses a line connecting the output shaft of the actuator and the joint shaft of the third joint portion.

Abstract: There is provided an exercise support apparatus including a leg rod connected to a waist region and a foot region of a user and including a linear motion actuator, a waist connecting section configured to connect one end of the leg rod to the waist region, and a foot region connecting section configured to connect the other end of the leg rod to the foot region.

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

Abstract: According to a walking motion assist device 10, an assisting force T of a leg in a standing-leg period is controlled to indicate a greatest value or a maximum value in a first designated period (refer to the one-dot chain line and the two-dot chain line in t=t1 to t2). By doing so, in the first designated period (an initial period or a prior period) of one leg, a translation of a body derived from a floor reaction force acting on the one leg is largely prompted compared to other periods of the standing-leg period. A smooth starting of floor leaving and bending motion of the other leg is prompted so as to follow the translation of the body.

Abstract: A wearable robot for assisting muscular strength of the lower extremity of a user: The wearable robot can be worn on user's legs and includes a central securing part, a hip joint part hingably coupled to either side of a lower end of the central securing part, a femur part fastened to the hip joint part and having rigidity, a knee part including an outer frame and a knee assistant, and a drive unit fastened to one of the hip joint part and the knee joint part to allow operation of the joint part. The outer frame includes an upper side outer frame fastened to a lower end of the femur part and a lower side outer frame fastened to the upper side outer frame by a rotatable knee joint part Both the upper side outer frame and the lower side outer frame are fastened to the knee assistant worn by the user.

Abstract: A bipedal exoskeleton configured to be worn by a human user. The exoskeleton includes a soft “backpack”-style harness that interfaces primarily with the user's waist, back, and shoulders. A chassis is provided to mount two positively-driven legs. Each leg includes features that are analogous to a human leg—a hip joint, a thigh, a knee joint, a calf, and a foot plate. Each leg of the exoskeleton is physically connected to one of the human user's legs. A thigh cuff is used to connect to the user's thigh. A shin cuff is used to connect to the user's calf. A foot plate rests beneath the sole of the user's foot. Power actuators are provided in the exoskeleton's hip and knee joints, and possibly additional locations. A user interface is provided in one or more locations so that the user can control desired functions of the exoskeleton.

Abstract: To achieve “ecological” robotic rehabilitation therapy, the present invention provides the system capacity of training of patients in different ambulatory tasks utilizing motorized footplates that guide the lower limbs according to human gait trajectories generated for different ambulatory tasks of interest. A lower extremity robotic rehabilitation system comprises an active pelvic/hip device which applies series elastic actuation to achieve an intrinsically safe and desirable impedance control. A robotic unit features the telepresence operation control that allows a patient stay at home or nursing home to continue his or her rehabilitation training under a physician's remote supervision and monitoring.

Abstract: The present invention describes a Smart Gait Rehabilitation System (SGRS). The present invention is capable of performing a quantitative analysis of human movements based on the simultaneous measurement of within-subject stride-to-stride changes in gait using accelerometers, gyroscopes, goniometers, and electromyography (EMG). The system described in the present invention is based on step-training that incorporates sensory feedback, provide feedback about kinematics and torques, and proceeds at walking speeds typical of overground ambulation.

Abstract: An architecture is presented that provides an exercise device for rehabilitation. The exercise device comprises at least two handles for securing hands of a user; a front rest and a back rest to position a body of the user; and at least two foot pedals for securing feet of the user. A reduction electric motor is used to power the exercise device. Additionally, the exercise device is fitted with wheels to allow the device to be moved. Typically, a user is lifted to a standing position and positioned between the back rest and front rest and secured. The user's hands are then secured to the handles via gloves and the user's feet are secured to the foot pedals via straps. The device is then powered on to exercise muscles of the user.

Abstract: A leg assist device with a control law suitable for assisting standing up motion is provided. The leg assist device is provided with an upper leg link, a lower leg link, a rotary joint, and a controller. The upper leg link and the lower leg link is attached to a leg of a user. The rotary joint rotatably connects the lower leg link to the upper leg link. The rotary joint also has an actuator which rotates the lower leg link. The controller controls the actuator so that the lower leg link angle matches a target angle. The controller has a torque limiter that limits the magnitude of the command torque that is output to the actuator. The controller sets a standing position angle corresponding to a user's standing position to the target angle, and raises an upper limit of the torque limiter as a user's hip height rises.

Abstract: A motion state of a wearable motion-assist device of a doctor is sent to the wearable motion-assist device of a patient via a network. Then, this motion state is applied to the wearable motion-assist device of the patient, so that rehabilitation is conducted for the patient. Furthermore, the motion state of the wearable motion-assist device of the patient is sent from the wearable motion-assist device to the wearable motion-assist device. Then, the motion state of the wearable motion-assist device is applied to the wearable motion-assist device. Accordingly, the doctor can objectively sense the state of the patient.

Abstract: A joint drive type link mechanism provided with a link including a joint portion at an intermediary thereof, and a driving source for the joint portion, wherein a link member configuring the link is mounted with the driving source and electric components used for the control of the driving source, in which the link is prevented from being heated by the heat of the electric components is provided. The link member includes an interior space in which the electric components are arranged and has the driving source is arranged thereon with an air inlet connecting to the interior space and an exhaust outlet for exhausting the air passing through the interior space. Further, the interior space is provided with fans as well as a heat sink for cooling the air after air-cooling the electric components.

Abstract: In a walking assistance device (10) including a main frame (22) supporting a power generator (26, 28) and worn on a pelvic part of a user, the main frame is provided with an opening (23) in a middle part thereof, and an electronic unit (25) is received in the opening. As the electronic unit is placed in the middle part of the main frame which is relatively free from deformation, the electronic unit is protected from deformation or stress that could impair the reliability of the electronic unit. To achieve both an easy access to the electronic unit, and an attractive appearance, the opening may be provided with a lid (24) that selectively closes the opening from a side adjacent to the user, and the lid may be formed as a back support member for supporting a back part of the user. As the lid serves the dual purposes, the weight and cost of the device can be minimized.

Abstract: In a belt buckle device including a tongue piece (75, 76; 210; 310) connected to an end of a belt extending in a longitudinal direction and a hook member (68, 70; 220; 320) configured to be selectively connected to the tongue piece by engaging a first lateral bar of the tongue piece in a hook opening (111; 226; 326) defined by a hook portion (71, 72; 225; 324) thereof, a longitudinal dimension (B) between the free end of the tongue piece and a base end side of the first lateral bar is substantially equal to or smaller than a width (A) of the entrance of the hook opening, and the effective thickness (C) of the first lateral bar is greater than the width (A) of the entrance of the hook opening. Thus, the first lateral bar is held inside the hook opening as long as the tongue piece is kept in a flat position in a reliable manner.