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 self initiated prone progressive crawler facilitates crawling in infants by sensing the infant's intent and assisting movement. The device is designed as a mobility aid to assist an infant in prone locomotion. The infant can be placed in a prone position on a platform and secured with hook and loop straps. The arms and legs are unconstrained and are able to reach the floor comfortably. The self initiated prone progressive crawler is a motorized wheeled platform which has three points of contact with the ground. One point is an industrial trackball, mounted upside down to provide positional and positional derivative data to a controller. It is located roughly under the chest of the infant and is highly sensitive to movement. The other points of contact are two DC torque motors which are controlled by the controller.

Abstract: A rehabilitation device, comprising a movement element capable of controlling at least one motion parameter of a portion of a patient; a brain monitor which generates a signal indicative of brain activity; and circuitry including a memory having stored therein rehabilitation information and which inter-relates said signal and movement of said movement element as part of a rehabilitation process which utilizes said rehabilitation information.

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 method and a continuous passive motion device for providing a dynamically loaded force and a static progressive force to a joint of a patient.

Abstract: A powered orthotic device includes a brace having a first section and a second section, the first section and the second section operationally coupled at a pivot, the first and the second sections moving about the pivot to define flexion and extension directions, such directions defining inside and outside regions of the brace respectively. The device further includes at least one set of straps that removably attach the first section and the second section to a corresponding limb segment such that the pivot is proximate to a joint between each limb segment.

Abstract: A passive exercise bed is disclosed. The passive exercise bed of the present invention comprises a main body, a back fixing unit, a head fixing unit, two arm fixing units, a hip unit, a plurality of extendable units, a plurality of leg fixing units and a control unit. Several driving units are disposed inside the main body and may be activated through the control unit to move or drive the head fixing unit, two arm fixing units, hip unit and extendable units. Therefore, the passive exercise bed of the present invention may be used to stretch out our waist, leg joints, upper body, shoulders, arm joints, elbow joints, wrist joints, the two sides of waist and back as well as hip joints.

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: An orthosis for stretching tissue around a joint of a patient between first and second relatively pivotable body portions. The orthosis includes a first arm member affixable to the first body portion and including a first extension member extending therefrom. A second arm member affixable to the second body portion is also included and has a second extension member having an arcuate shape extending therefrom. A third arm member including a third extension member having an arcuate shape extending therefrom is interposed between the first and second arm members. The third extension member is slidably connected to the first arm member and the second extension member is operatively connected to the third arm members, such that the second arm members travel along an arcuate path defined by the second extension member when the second arm member is moved from a first position to a second position relative to the first and third arm members.

Abstract: A device (7) for the rehabilitation of the movements of the foot (1) includes a supporting base (8) and a mobile platform (9) with a supporting surface (10) for resting the sole of the foot (1), wherein the mobile platform (9) is secured to the supporting base (8) by a pure rotation movement mechanism (12) with three degrees of freedom of rotary movement independent the one from the other and placed in parallel which allow rotations of the mobile platform around three axes (13, 14, 15) which intersect one another in a single rotation center (P). The supporting surface (10) is turned towards the rotation center (P) and is distant from the rotation center (P) in such a way that the rotation center (P) is positioned in correspondence to the ankle (2) of the foot (1).

Abstract: A rehabilitation chair system, comprising: a seat adapted for sitting of a human thereon; at least one extender adapted to move relative to said seat; at least one sensor which generates an indication of a balance state of said human; and a controller configured to move said extender while measuring said balance state using said at least one sensor.

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: Therapeutic abduction of the shoulder joint is achieved using a hinged device, the hinge activated by a cable passed between pulleys to increase mechanical advantage. The cable is wound on a spool mounted on a ratcheting mechanism, whereby tension is maintained as the spool is wound via a knob or computer controlled motor. A rotation control device enables rotation of the spool by a user, but prevents rotation due to a load. Mating shackles pivot in connection with the hinge, and are activated by the cable to increase the angle of the hinge. The hinge is connected to the body, one portion affixed relative to the body, the other affixed relative to the upper arm. As the hinge angle is expanded, the shoulder joint is abducted, stretching the tissue of the joint. If resilient, the cable imparts a dynamic tensioning force to the shoulder joint.

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: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Abstract: The present disclosure provides an orthosis for stretching tissue around a joint of a patient between first and second relatively pivotable body portions flexing tissue about an arm joint of a wearer. The orthosis includes a first arm member affixable to the first body portion and including a first extension member extending therefrom. A second arm member affixable to the second body portion is also included and has a second extension member having an arcuate shape extending therefrom. The second extension member is operatively connected to the first extension member and travels through the first extension member along an arcuate path when the second arm member is moved from a first position to a second position relative to the first arm member configured to couple to a first arm portion of the wearer. a second arm member pivotably coupled to the first arm member. the second arm member configured to couple to a second arm portion of the wearer.

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: There is provided an apparatus for automatically lengthening a calf muscle in order to relax fatigue and tension of a calf muscle of a worker who works standing up for a long time or a woman wearing high heels. Accordingly, a calf muscle can be naturally relaxed itself by lengthening a length of the calf muscle that is tense by a repetitive and continuous damage, so that it is possible to reduce a chronic muscle unbalance and a muscular pain of a worker who works standing up for a long time or a young woman wearing high heels and it is possible to improve quality of life and work efficiency in an industrial site.

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 limb rehabilitation and training system includes a horizontal position adjuster movably mounted at a bottom side of a base, an expansion rotary member mounted at the horizontal position adjuster, a shoulder joint traction mechanism linked to the expansion rotary member through a first arm segment robotic arm and a height adjuster, and an upper-limb rehabilitation device linked to the shoulder joint traction mechanism. The upper-limb rehabilitation device is able to rapidly be adjusted to fit the left arm or right arm through the horizontal position adjuster, the expansion rotary member, the first arm segment robotic arm and a shoulder positioning-lifting rotary member and. Further, by means of the shoulder joint traction mechanism, the user's stiffened shoulder joint can be timely moved for a separation distance, achieving the function of loosening the joint and facilitating performance of successive rehabilitation treatment or training.

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: Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.

Abstract: The application is directed to devices and methods useful for expanding the range of motion of joints based on principles of stress relaxation and creep. Expanded range of motion is achieved by placing body parts near the joint in positions that stretch tissue around the joint. Even when the device is in any one position, it can impart forces on the body members to urge them to stretch surrounding tissue even further.

Abstract: A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient's limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, in which a same movement mechanism is used at two different places of rehabilitation.

Abstract: Disclosed is a therapeutic stretching apparatus, which in particular provides a user with a system for providing an assist to increase knee extension as well as for maintaining stability of the knee after surgery. This device can not only act as a therapeutic stretching apparatus but also can act as a primary post-op knee brace with locks/limits on hinge to prevent user from further injuring the joint.

Abstract: A method and apparatus for upper limb rehabilitation training of coordinated arm/forearm, forearm/forearm and grasping movements of a motor impaired patient comprises a nonrobotic, passive support, an arm/forearm sensor, a gripping device, a grip sensor capable of measuring an impaired grasping force of a grasping of the patient, a computer to process measurements of coordinated and simultaneous impaired arm/forearm, forearm/forearm and grasping movements to control a graphical representation of the arm/forearm and grasping movements in interaction with a virtual environment, and to provide a visual feedback signal to the patient of simulated normal activities of daily living performed with enhanced motor ability relative to the actual impaired motor ability. A visual feedback signal of the simulated activities of daily living is provided to motivate the patient to perform the upper limb rehabilitation movement training despite limited motor ability.

Abstract: A limb support device for supporting a limb of a patient, the limb including an upper limb above a joint and a lower limb below the joint, the device having an upper limb support for supporting the upper limb but not the lower limb, so that the lower limb can articulate about the joint when the upper limb is being supported by the upper limb support. A lower limb support is arranged for engaging the lower limb only, and for raising and lowering the lower limb by articulation about the joint, so that, while the upper limb is supported by the first part, the second part is moveable between a position where it is remote from the lower limb and a position in which it engages the lower limb.

Abstract: An apparatus for passive contraction of at least one finger of a patient with an upper arm unit, a lower arm unit, and at least one connective line. The apparatus is configured such that elbow extension of the patient promotes finger flexion. This is accomplished by taking advantage of the geometry of the arm, where the distance from a point on the patient's humeral area to the patient's fingers is greater when the patient's arm is in extension than when it is in flexion. In one aspect, the upper arm unit is configured to connect to a portion of the patient's arm between the patient's elbow and shoulder and the lower arm unit is configured to connect to a portion of the patient's arm intermediate the patient's hand and elbow.

Abstract: The invention relates to a delordosation device for users of a rehabilitation appliance, in particular for the verticalization of a sit/stand exercise machine or a wheel chair with a seating area and support aids for a user, the seating area supported in a swiveling manner swiveling for verticalization. To avoid hyperlordosis while patients with a restricted mobility are being straightened up in rehabilitation measures or a verticalization in a sit/stand exercise machine 1 or wheel chair, it is provided that the seating area is supported in a swiveling manner, and at least a portion of the seating area is mounted in a movable manner. Thus, a pelvis rotation can be initiated during verticalization, whereby hyperlordosis is avoided.

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 sit-up exerciser having a secondary purpose of promoting a bowel movement. Two pivot plates correspondingly pivot, a waist support plate is disposed between the pivot plates to prevent the waist from slipping, and the pivoting angle of the pivot plates can be easily adjusted, so that a person who needs to exercise his or her waist can easily exercise it while having his/her bowel movement facilitated in order to promote the health. The pivoting angle of the pivot plates can be easily adjusted to control the intensity of the exercise, the pivoting speed of the pivot plates can be adjusted to be fast or slow, the temperature of the pivot plates can be adjusted from room temperature up to 70° C. so that the temperature of the surface of the pivot plates can be controlled, and the operating time can be adjusted depending on user's preference.

Abstract: An adjustable stretching system for stretching a leg of a user comprises a base, an adjustable elevation board configured to be adjustable in length, a seat cushion attached to the base, and a cushioned platform connectable to the base. The adjustable elevation board may be configured to be connected between the base and the cushioned platform.

Abstract: The portable device for rehabilitating an impaired user having difficulties in executing simultaneous reaching and lifting tasks comprises an armrest whereto the forearm of the user can be fastened and mechanism for enabling the movement of the armrest on a surface. It furthermore comprises mechanism for monitoring the movement of the armrest and mechanism for sensing a force exercised by the arm of the user in an orthogonal direction to the surface. The device enables the user to conduct reaching movements in a large workspace having the forearm supported and fastened. The fact that the forearm is supported and fastened to the device allows for better control of the shoulder training movements, avoiding uncontrolled trajectories at the level of the elbow that are possible in case only a handle is grasped.

Abstract: A neuromorphic controlled powered orthotic and prosthetic system and device including a custom or universal fit fixed-ankle orthosis, to stabilize or immobilize an injured lower limb or act as an ankle prosthesis, and an actuated or powered articulated false-foot connected to the fixed-ankle orthosis or the prosthesis to form an actuated articulated false-foot orthosis. Associated with or mounted on the actuated articulated false-foot, or in or on the body, are sensors for sensing the intent of the subject to move, and the movement range of the articulating false-foot or AAFO and an environmental perturbation. An actuator is used to drive the articulated false-foot orthosis. The system and device further include a controller having an electronic circuit with a biomimetic design based on knowledge of connectivity of neurons within the spinal cord of a primitive vertebrate.

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: The application is directed to devices and methods useful for expanding the range of motion of joints based on principles of stress relaxation and creep. Expanded range of motion is achieved by placing body parts near the joint in positions that stretch tissue around the joint. Even when the device is in any one position, it can impart forces on the body members to urge them to stretch surrounding tissue even further.

Abstract: The present invention is directed to an apparatus that includes a microcurrent delivery device portion and at least one independent sensory cue delivery means. The independent sensory cue delivery means can provide an independent sensory cue selected from the group consisting of vibration, heat, cool, skin irritation, tingling, fragrance or auditory.

Abstract: A physical therapy device including a vertically elongated lever arm turned to project medially on the upper and lower extremities to form repetitive thigh and ankle bearing rods and further including an elongated crank.

Abstract: A multi-fit orthotic structure including an attachment system for coupling the orthotic structure to a wide variety of subjects without requiring a custom fit. In one embodiment, active mobility assistance is provided via an orthotic system capable of integrating a linear actuator and linkage system to deliver torque to the lower leg of a subject to facilitate flexion and/or extension motion of the subject's leg. The orthotic structure is attached to the subject using a textile suspension system which does not require the orthotic structure to interface directly in the knee region or at the lateral areas of the thigh and calf of the subject, thus providing an ideal fit for the widest possible range of subjects with the minimum number of required sizes.

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: There is provided a continuous passive motion (CPM) machine with integrated mechanical deep vein thrombosis (DVT) prophylaxis for providing simultaneous CPM therapy and DVT prophylactic therapy to a human patient. The passive motion machine may include a base, at least one motor, one or more hinged frame rails, one or more support or suspension structures and a roller assembly. The hinged frame rails are driven to impart CPM to a patient's limb. The roller assembly can be a single roller, a multiple roller unit, or a belt and roller apparatus. A motor and connecting drive rotates the roller assembly. The roller assembly engages the patient's limb and the one or more rollers apply a mechanical DVT prophylaxis therapy to the limb, reducing the risk of blood clotting.

Abstract: A back treatment apparatus (10), constituted of: a support member (50) arranged to support a lumbar region (130); a translation mechanism (210); and a control circuitry (100), the control circuitry arranged to control the translation mechanism to translate the support member along a plurality of paths and rotate the support member about at least one axis in a pre-determined range of motion. Preferably, the plurality of paths is constituted of at least: a generally linear path along an axis generally perpendicular in relation to a plane defined by the support member; and a generally linear path along an axis generally parallel in relation to the plane defined by the support member. Preferably, the back treatment apparatus is portable.

Abstract: The treatment device for hemiplegia comprises a robot which is putted on the hemiplegic side of the body of a subject; a motion measurement unit for measuring the motion of the healthy side of the body of the subject; and a control which is connected with the robot and the motion measurement unit, wherein the control unit is configured to receive the healthy side's motion measured by the motion measurement unit and to control the robot, whereby the hemiplegic side having the robot put thereon moves in accordance with the motion of the healthy side of the body.

Abstract: A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient's limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising: exercising a patient at a first place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home, using an actuator of said actuator type which interacts with a motion of said patient; and second exercising said patient at a second place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home using a second actuator of said actuator type which interacts with a motion of said patient; wherein said first exercising and said second exercising utilize a same movement mechanism design for moving the actuators.

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: An easily dismantled continuous passive motion system for rehabilitating a knee joint with the drive applied directly to the knee joint portion of the device.

Abstract: The invention is a method and apparatus used for rehabilitation and training of an injured limb by using the corresponding functional healthy limb to control the motion of the injured limb. The apparatus comprises a sensor system for the healthy and active limb, a powered mechanism for moving individual bones on the injured passive limb, a processing unit, and a power supply.

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.