Abstract: The control method for lower-limb assistive exoskeletons assists human movement by producing a desired dynamic response on the human leg. Wearing the exoskeleton replaces the leg's natural admittance with the equivalent admittance of the coupled system formed by the leg and the exoskeleton. The control goal is to make the leg obey an admittance model defined by target values of natural frequency, resonant peak magnitude and zero-frequency response. The control achieves these objectives objective via positive feedback of the leg's angular position and angular acceleration. The method achieves simultaneous performance and robust stability through a constrained optimization that maximizes the system's gain margins while ensuring the desired location of its dominant poles.

Abstract: An orthopedic device has various frame elements concealed by a sleeve defining pockets into which such frame elements are located. The orthopedic device includes a strap tightening assembly adapted to secure a plurality of straps simultaneously. The frame may include flexible edge features located along a periphery thereof.

Abstract: An articulated joint for orthopedic orthoses or braces, where the brace comprises rods for the tibia (51) and rods for the femur (52) and an articulated hinge (53) provided with four pivots designed to ensure the necessary mobility obtained by the presence of multiple centres of rotation, and where the articulated hinge (53) comprises two plates (55, 56) reciprocally connected by means of four quadrilaterally positioned hinging means such as rivets (57) or similar, in order to enclose the ends of the rods (51, 52) which face each other, wherein between the ends of the two rods (51, 52) there are spacers or stops (63), and where the outer plate (55) of the articulated hinge (53) presents openings (61, 62) in which are inserted pairs of stops (63) which limit the ROM of the joint.

Abstract: An apparatus includes a frame, a sensor, and an electric stimulator. The frame is removably couplable to a portion of a limb. The sensor is configured to produce a first signal associated with a gait characteristic at a first time, and a second signal associated with the gait characteristic at a second time, after the first time. The electric stimulator is removably coupled to the frame and is in electrical communication with an electrode assembly and the sensor to receive the first signal substantially at the first time and the second signal substantially at the second time. Based in part on the gait characteristic at the first time, the electric stimulator sends a third signal to the electrode assembly to provide an electric stimulation to a portion of a neuromuscular system of the limb substantially during a time period defined between the first time and the second time.

Abstract: A brace for augmenting extension of a user's limb about a joint comprises an upper arm pivotably attached to a lower arm. At least one compression element is attached to at least one of the upper and lower arms, and a substantially inelastic tensioning element is affixed to the other of the upper and lower arms over at least one tensioning member. Applying a force to bend the brace to a flexed position loads the compression element, and upon removal of the flexing force the compression element applies a restoring force to urge the brace back to the extended position. The compression element may comprise a hydraulic tension spring comprising at least one cylinder having a sealed portion defining a liquid containment space, and a piston comprising a compressing portion having a smaller diameter than the cylinder and extending axially through a hydraulic seal into the liquid containment space.

Abstract: A suspension walker which may be weighted or unweighted is provided. The suspension walker includes a sole plate having a rocker bottom, a yoke portion and an extension leg attached to the yoke portion. A boot received by a patient's foot is operably coupled to the yoke portion by a first fastener and to an upper portion of the extension leg by a second fastener. An extension leg may be operably coupled at a hinge axis to an upper hinged portion. The hinge axis is configured to be aligned with the knee. A below the knee collar operably and securely couples the boot to the extension leg and the yoke portion. An above the knee collar operably secures the upper hinged portion to the patient's thigh.

Abstract: A walking support apparatus supports the walking movement of a walking person. The walking person may be an elderly person, a disabled person, an invalid, an athlete, a learner, or the like. A measurement unit measures walking information with respect to the walking person, and generates data that represents the walking information. An attachment applies an action to the arm of the walking person according to the walking information data measured by the measurement unit. Such an arrangement provides improved walking movement via the effect on the arm movement when the walking person is walking.

Abstract: A system and method for sharing and absorbing energy between body parts. In one particular aspect, the system is an unlinked structure which facilitates absorbing energy between members forming a joint such as between articulating bones.

Abstract: Various methods for treating a joint are disclosed herein. According to one method, a joint is surgically treated by performing a surgical repair treatment on tissue within the joint capsule; implanting a load reducing device at the joint and entirely outside of the joint capsule to reduce load transmitted by the treated tissue to allow for the tissue within the joint capsule to heal; and partially unloading the joint during healing of the surgical repair site.

Abstract: A hinge for an orthopedic device includes an upper hinge component having a bottom peripheral surface defined by a first geometrical configuration, and a lower hinge component having a top peripheral surface defined by a second geometrical configuration. An outer plate pivotally connects at first location points to the upper and lower hinge components, and a rear component pivotally connects at second location points to the upper and lower hinge components. The hinge has a rotation stop defining a third geometrical configuration defining a top portion corresponding in shape to at least a portion of the bottom peripheral surface and is arranged to directly abut the portion of the bottom peripheral surface. The rotation stop also defines a bottom portion corresponding in shape to at least a portion of the top peripheral surface and is arranged to directly abut the portion of the top peripheral surface.

Abstract: A hinge includes an upper hinge component and a lower hinge component. A cover plate is pivotally connected at first location point to the upper hinge component and at a second location point to the lower hinge component. First and second plates are pivotally connected at a third location point to the upper hinge component and at a fourth location point to the lower hinge component. The first plate is positioned between the cover plate and the upper and lower hinge components. The upper and lower hinge components are positioned between the first and second plates. The cover plate is mounted on an outer side of the hinge and the connection of the cover plate at the first location point rotates around the third location point and the connection of the cover plate at the second location point rotates around the fourth location point.

Abstract: An elbow-forearm anti-rotation support system and process that do not require a hardenable material. The system includes an orthopedic support such as a wrist-hand orthosis, wrist-hand-thumb orthosis, or cast, joined to a bottle-shaped forearm wrap with opposed flaps formed into a clamshell. Proximal elbow flaps include a center elbow region that extends from the proximal end of the forearm wrap. A U-shaped reinforcement stay is disposed on the center elbow region and attaches to the forearm flaps. Cross straps extending from the proximal elbow flaps attach to the forearm flaps, and a closure strap secures the two flaps together. Hook and loop fasteners extending from the distal edge of the forearm wrap attach the forearm wrap to the orthopedic support.

Abstract: An ankle brace has a stirrup with a flat bottom portion and a first and second upright leg. Each of the first and second upright legs has an upper end and a lower end, the upper end having a circular opening therethrough and the lower end attached to the flat bottom portion. First and second pivot legs, each having a circular opening therethrough, are releasably and rotatably connected to the first and second upright legs respectively. When connected, the circular openings in the pivot legs overlap the respective circular openings in the upright legs, and each pivot leg is rotatable about an axis through and perpendicular to the pivot leg circular opening. The circular openings in the first and second upright legs are positioned and sufficiently large to allow at least a portion of the malleolus bone of an ankle to protrude therethrough.

Abstract: An ankle brace has a stirrup with a flat bottom portion and a first and second upright leg. Each of the first and second upright legs has an upper end and a lower end, the upper end having a circular opening therethrough and the lower end attached to the flat bottom portion. First and second pivot legs, each having a circular opening therethrough, are removeably and rotatably connected to the first and second upright legs respectively. First and second leg extensions are removeably connected to the first and second pivot legs, respectively. When connected, the circular openings in the pivot legs overlap the respective circular openings in the upright legs, and each pivot leg is rotatable about an axis through and perpendicular to the pivot leg circular opening. The circular openings in the first and second upright legs are positioned and sufficiently large to allow at least a portion of the malleolus bone of an ankle to protrude therethrough.

Abstract: An orthopedic device is arranged for dynamically treating the knee. The device includes a hinge assembly, a frame having an upper cuff and a lower cuff spaced apart from and connected by the hinge assembly, and a dynamic shell connected to the frame and extending along the first side of the brace. An adjustment system is connected to the dynamic shell and includes a tensioning element operatively engaging the shell and the hinge assembly. The adjustment system is arranged to increase and decrease tension in the tensioning element. The dynamic shell is arranged to be drawn toward the frontal plane as the orthopedic device goes from an extension orientation to a flexion orientation.

Abstract: An orthopedic device includes a hinge assembly, a frame having first and second frame components spaced apart from and connected to one another by the hinge assembly, a strap system extending between medial and lateral sides of the first frame component, and at least one tensioning element. The at least one tensioning element has a first end secured to the strap system and a second end coupled to the hinge assembly. Articulation of the hinge assembly pulls the strap system toward the frontal plane by the at least one tensioning element.

Abstract: A high torque active mechanism for an orthotic and/or prosthetic joint using a primary brake which can be provide by magnetorheological (MR) rotational damper incorporating and an additional friction brake mechanism driven by the braking force generated by the MR damper. This combination of MR damper and friction brake mechanism allows an increase in torque density while keeping the same level of motion control offered by the MR damper alone. The increased torque density achieved by this high torque active mechanism allows to minimize the size of the actuating system, i.e. its diameter and/or breath, while maximizing its braking torque capability. In this regard, the friction brake mechanism is advantageously positioned around the MR damper, such that the dimension of the package is minimized.

Abstract: A prosthetic knee provides security and stability, particularly to low activity users, household and limited community ambulators, single and/or slow speed ambulators, and those with little voluntary control, while also balancing walking (dynamic) performance for low activity users. The prosthetic knee includes a housing, parallel anterior links, a posterior link, and a chassis. The geometry of the links and their relationship to one another allow for low voluntary control, shortening of mid-swing, which reduces stumbling risk, and geometric stability in stance. The anterior links are particularly oriented, sized and located to provide for stability. The anterior links both extend above the posterior link and substantially below the posterior link. The prosthetic knee includes a locking mechanism arranged to arrest movement of the posterior link. The knee including a locking mechanism connected to the housing and arranged to block rotation of the posterior link.

Abstract: Various embodiments are directed to base components that are usable with implantable mechanical energy absorbing systems. According to one embodiment, the base component includes a low-profile body having a elongate, straight portion at a first end and a curved body portion at a second end. The second end is elevated as compared to the first end. An inner surface of the low-profile body has a raised portion extending along the elongate, straight portion of the low-profile body. The base component also includes a plurality of openings positioned along the low-profile body for alignment and purposes of affixation to body anatomy.

Abstract: An orthopedic knee brace includes an upper medial upright; a lower medial upright; an upper lateral upright; a lower lateral upright; a medial hinge connected rotatably to the upper and lower medial uprights; a lateral hinge connected rotatably to the upper and lower lateral uprights; and wherein one of the medial and lateral hinges is configured such that its respective uprights rotate from a flexion to an extended relative positioning while striking a radially-decreasing arc, while the other of the medial and lateral hinges is configured such that its respective uprights rotate from a flexion to an extended relative positioning while striking a radially-increasing arc.

Abstract: A method for manufacturing a custom orthosis, such as an ankle brace, includes use of scanning processes. A digital model of a surface may be applied to a digital orthosis model to define a custom digital orthosis model. The digital model and, thus, the custom digital orthosis model may include one or more standard features. The custom digital orthosis model may be used with an automated manufacturing process to make some or all of the custom orthosis. In some embodiments, additive manufacturing processes may be used to form a portion or all of the custom orthosis.

Abstract: An orthotic device according to embodiments of the present invention includes a substantially rigid internal footbed with an external rocker bottom, two struts rigidly coupled to the footbed, a paddle coupled to each strut, each paddle having an inner surface configured to face a limb of a patient, and a strap system configured to interface with the paddles for tightening around the limb, the inner surfaces of the paddles including a plurality of protrusions configured to minimize sliding of the first and second paddles with respect to the limb or with respect to a cast applied to the limb. The orthotic device may include two or more support layers on the footbed, each layer having a support aperture larger than and at least partially overlapping the support aperture below.

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 cable driven actuator and actuator method involve a movable link that is movable about a path by a cable connected to the link, and a movable support member having a cable routing element. The support member is movable in a manner to change a moment arm of the cable acting on the link to control torque applied to the joint.

Abstract: In a wearable motion assist device, a motion assist device for generating a motion pattern synchronized with a wearer while maintaining a certain phase difference between a motion of the wearer and a motion of the device, and a synchronization based control method for the device are provided. The motion assist device acquires a phase of torque generated by the wearer's motion, applies a value of the phase to a phase oscillator model as an input, performs arithmetic processing, and calculates target torque and a target angle of the device with the motion of the device synchronized with the wearer. It is possible to improve an assisting effect of the device by controlling the device based on the calculated values.

Abstract: An orthopedic device comprises a hip plate, a first strut defining an anatomical curvature between first and second ends, and a second strut having a first end slidably received by the hip plate. A hinge couples the first and second struts to one another at the first end of the first strut and the second end of the second strut, and is arranged to provide adjustable abduction ranging from a plurality of angles. A thigh cuff connects to the second end of the first strut.

Abstract: A method for producing a customized helmet including a computer designed composite helmet liner to be incorporated into existing and new helmet designs is provided by scanning a user's cranial region, creating a computer rendering surface model of the scan, modifying the surface model using computer aided design software, overlaying and aligning an outer helmet shell model onto the modified cranial model to define the custom liner three-dimensional space to configure the composite liner with a software algorithm including shock absorbing segments having optimal sizes, shapes, and materials, fabricating the liner in a heat sealing process to include an optional encapsulating or serial air bladder, and assembling the liner and outer helmet shell together.

Abstract: An exoskeleton for humans including a joint element that interacts directly or indirectly with a human's joint via an end-effector mount, wherein the end-effector mount is arranged to perform an arbitrary planar parallel movement in a plane, allowing superimposed translational and rotational movements of the end-effector mount relative to a body of the joint element. The exoskeleton allows for excellent adjustment of the joint axes, i.e. the exoskeleton's and the human's joint, for effecting simultaneous translational and rotational movements. Particularly, the exoskeleton is self-aligning to the movements of a human's joint independent from differences in the attachment of the exoskeleton to the body and anatomical differences of the patients.

Abstract: A high density actuator, comprising a housing assembly composed of a first housing element containing a motor stator and a second housing element containing a gear reduction mechanism, a rotational core positioned at the center of the housing assembly, the rotational core being composed of a motor rotor and a transmission input operatively connected to the motor rotor, a transmission output positioned between the transmission input and the housing assembly, the transmission output forming an actuator output, a torque transfer output operatively connected to the actuator output and a center shaft connected to the torque transfer output in its center and in rotational contact with the first housing element, the center shaft passing through the transmission output, rotational core and second housing element to ensure proper radial and axial alignment.

Abstract: A torque limiting assembly for use with an actuator having a torque transfer output, the assembly comprising a brake pad, a band connected at a first extremity to a first extremity of the brake pad and a cam linking a second extremity of the band to a second extremity of the brake pad. The brake pad and the band are configured to wrap around the a torque transfer output and the positioning of the cam in a first position frictionally engages the brake pad and the band with the a torque transfer output while the positioning of the cam in a second position disengages the brake pad and the band with the a torque transfer output.

Abstract: The subject matter described herein includes an apparatus and a clutch for using controlled storage and release of mechanical energy to aid in locomotion. One exemplary apparatus includes a frame including an upper portion configured to mechanically couple to a leg of the subject on a calf side of an ankle joint of the subject and a lower portion pivotally attached to the upper portion configured to mechanically couple to a foot of the subject on a foot side of the ankle joint of the subject. The apparatus include a rotary clutch and an elastic element coupled between the upper and lower portions of the frame to control periods of energy storage and release by the elastic element.

Abstract: A method for manufacturing a custom wearable and/or implantable medical device, such as an orthosis (e.g., an ankle brace, etc.), a prosthesis or the like, includes use of scanning processes. A digital model of a surface may be applied to a digital device model to define a custom digital device model. The digital model and, thus, the custom digital device model may include one or more standard features. The custom digital device model may be used with an automated manufacturing process to make some or all of the custom wearable and/or implantable medical device. In some embodiments, additive manufacturing processes may be used to form a portion or all of the custom wearable and/or implantable medical device.

Abstract: An orthotic system and method for a knee ankle foot orthosis (KAFO) or ankle foot orthosis (AFO) capable of removing up to 100% of the weight-bearing forces at the knee and tibia and/or ankle and heel. The KAFO and AFO of the present invention utilize a fully adjustable compound closure system and compression liner to circumferentially compress the soft tissue of the thigh or calf to reduce loading forces on the leg at all points distal to the distal border of the compression liner. The degree of reduction in weight-bearing is adjusted by applying the orthosis with the heel of the individual raised above the foot platform, tightening the compound closure system, allowing the tissue to drop down within the compression liner, assessing the position of the heel above the foot platform, and adjusting the compound closure system to maintain the desired degree of elevation of the heel above the foot platform.

Abstract: A joint-supporting device comprises tensile members extending from a proximal cuff secured to the limb above the joint to a distal cuff secured to the limb below the joint, supplementing the tensile characteristics of the joint's tendons, ligaments, and other structure. The device may also comprise structure for limiting the range of motion and angular velocity of the joint.

Abstract: A hydraulic tension spring comprises a block comprising at least one liquid-impermeable cylinder and at least one piston disposed through an open end of the cylinder. The piston provides a piston guide within a liquid containment space within the cylinder filled with hydraulic fluid. A tensioning member moves the piston or the cylinder relative to the other to compress the hydraulic fluid and load the spring, while the piston guide keeps the piston axially aligned to prevent buckling.

Abstract: Orthopedic braces and splints for use on a limb of an animal, that provide stability for unstable joints and limbs for short or long term support and function. These orthoses are designed to prevent the occurrence of, or reduce the severity of, a joint injury. These braces and splints can also be fitted immediately after corrective surgery, and can support and stabilize the joint while assisting or restricting the range of motion. Various embodiments of the orthoses are modular, thermoformable and may include an adjustable tensioning system, which in combination provide a custom fit for a wide variety of animals and injuries.

Abstract: The Rooster Boot is a lightweight therapeutic ankle foot orthosis designed for increasing the range of motion and correcting alignment of the foot and ankle. The dynamic orthosis creates a variable load stretch at the ankle to prevent contracture and shortening of the heel cord. The orthosis is utilized during rest, sleep, and weight bearing therapy. This dynamic design has been of particular benefit to children with spasticity or weakening muscles, as evidenced in cerebral palsy.

Abstract: A rehabilitation and walking assisting assembly includes a pair of plates each having an upper edge, a lower edge, a first lateral ledge and a second lateral edge. The plates have an inner surface and an outer surface. A plurality of straps is attached to and extends between the pair of plates. A plurality of legs defines a first set of legs and a second set of legs. The first set of the legs is attached to the outer surface of one of the plates and the second set of legs is attached to the outer surface of the other one of the plates. Each of the legs includes a lower end terminating with a wheel. The plates are positionable on opposite sides of a torso of a person such that the legs assist the person while walking.

Abstract: Devices and processes used to treat ankle equinus. More specifically, the present disclosure relates to a brace and the corresponding method of use to treat equinus by stretching the Gastrocnemius muscle.

Abstract: A load distribution device that transfers the musculo-skeletal stress at a joint to associated body segments of a given joint-segments body structure. The device includes a proximal support element adapted to be positioned onto a proximal body segment, a distal support element adapted to be positioned onto a distal body segment, a compensating joint movably connecting the proximal and distal support elements, a control system operatively connected to the compensating joint and a power source supplying power to the control system and the compensating joint. During user executed movements, the compensating joint generates or dissipates, under the directions of the control system a preset level of biomechanical energy corresponding to a user desired musculo-skeletal stress reduction at the joint-segments structure in order to compensate the movements of the user, the biomechanical energy being redistributed onto the proximal and distal body segments via the corresponding proximal and distal support elements.

Abstract: A hinge for an orthopedic device includes an upper hinge component, a lower hinge component, a first plate pivotally connected at a first location point to the upper hinge component and connected at a second location point to the lower hinge component, and a second plate pivotally connected at the first location point to the upper hinge component and at the second location point to the lower hinge component. A first rotation stop is connected at a third location point to the first and second plates. A center link is pivotally attached at a fourth location point to the upper hinge component and at a fifth location point to the lower hinge component. The center link has a first stop surface arranged to directly abut the first rotation stop. The hinge components and the center link are arranged between the first plate and the second plate.

Abstract: It is an object of the present invention to reduce energy consumed when a rotary apparatus is used and to suppress abrasion and breakage on the rotary apparatus and a driving apparatus which drives the rotary apparatus. Provided is a rotation adjustment apparatus (1) comprising a rotary apparatus (10) which has a plurality of members coupled to each other via a plurality of rotation axes, the rotary apparatus providing a rotational movement of one of the members rotating around the rotation axis with respect to another one of the members; and a rotation restraining mechanism (30, 72) which restrains at least one of a plurality of rotational movements provided by the rotary apparatus.

Abstract: A joint for articulations with pseudo-elastic elements comprising a pair of coupled box-shaped elements (13, 14), facing each other in an open surface, moveable and rotating with respect to each other, around a common longitudinal axis (15) and containing a spring-charged pseudo-elastic element (12) which causes the reciprocal rotation, the box-shaped elements (13, 14) carrying an arm (20, 25) facing outwardly for connection with associated portions of an articulation and including stop elements (21, 32; 132, 20) of their rotation. The spring-charged pseudo-elastic element (12) comprises a curved portion, more or less closed to form a ring (36) and two straight portions (37) terminating in ends (23, 34), inserted into holes (22, 33) of the box-shaped elements (13, 14), the straight portions (37) being intersected to obtain a pre-charge before being inserted into the holes (22, 33).

Abstract: A motion assisting device or the like, wherein the asymmetry degree of the motion patterns of human limbs is evaluated according to the variation patterns of the values of a pair of posture variables which vary with the postures in the respective same locations of the limbs. Furthermore, the evaluation result of the degree of the asymmetry can be utilized as the foundation of the motion control of the actuator of the motion assisting device. As a result, the motion of the human limbs can be assisted by the motion assisting device in such a manner that the balance of the motion patterns of the limbs is adjusted.

Abstract: A double upright knee brace for treating knee flexion contracture includes upper and lower sections, each section having a pair of leg members and an anteriorly disposed integral thigh and shin cuff. A pair of hinges is intermediately positioned to the upper and lower sections. Notches formed in the upper and lower sections provide a catch for a pair of elastic bands, one each deployed on opposed sides of the knee brace, which provide a gait swing assist mechanism for the brace. A multitude of adjustable straps are deployed on both the anterior and posterior sides of the brace. A pair of air bladders, one deployed posteriorly below the knee and one deployed anteriorly above the knee, provide posterior-anterior mobilization when a patient wears the brace, stands up and ambulates. A pair of inner air bladders mounted on inner surfaces of the hinges stabilizes the knee joint.

Abstract: An orthosis for supination and/or pronation of a forearm of a wearer, the orthosis including a base, an upper arm support coupled to the base and configured to secure an upper arm of the wearer, a rotation assembly coupled to the base and including an output member rotatable relative to the base within a rotation plane, and a forearm support member coupled to the output member of the rotation assembly and configured to releasably engage a wrist and the forearm of the wearer, wherein the forearm support member is contoured to receive a thumb of the wearer.

Abstract: An orthotic device according to embodiments of the present invention includes a substantially rigid internal footbed with an external rocker bottom, two struts rigidly coupled to the footbed, a paddle coupled to each strut, each paddle having an inner surface configured to face a limb of a patient, and a strap system configured to interface with the paddles for tightening around the limb, the inner surfaces of the paddles including a plurality of protrusions configured to minimize sliding of the first and second paddles with respect to the limb or with respect to a cast applied to the limb. The orthotic device may include two or more support layers on the footbed, each layer having a support aperture larger than and at least partially overlapping the support aperture below.

Abstract: An orthopedic device includes an orthopedic frame, a strap system connected to and depending from the frame and arranged to secure to a limb or joint of a wearer, and a bladder system connected to the strap system. The bladder system has a bladder positioned on the strap system and is arranged between the strap system and the limb or joint of the wearer. The orthopedic device may also include a load cell device connected to the strap system and arranged to monitor pressure exerted on the limb or joint of the wearer, and a tightening mechanism connected to the load cell and arranged to adjust the pressure of the strap system in response to a pressure reading from the load cell. The bladder system and the load cells supplement the strap system to provide for more dynamic support to the limb or joint of the wearer.

Abstract: A leg support that attaches to a user's upper leg and extends below the user's foot, where stepping on the portion below the user's foot causes the portion around the user's upper leg to tighten. This allows the leg support and the user's upper leg to bear the user's weight with the user's foot remaining untouched. When the user takes his or her weight off of the leg support, the portion around the user's upper leg loosens for the user's comfort. The leg support insures that there is zero pressure on the bottom of the user's foot and all of the user's weight and vertical shear pressure is converted into horizontal compression pressure around the user's thigh, while the user's center of gravity remains in a position that allows upright balance to be maintained.

Abstract: An upper body appendage support apparatus having an articulating parallelogram support structure connected to an articulating upper body appendage support structure, the latter accommodating a user's forearm, wrist, and/or heel-of-hand. The apparatus analogously jointed to the human arm and moving synchronously therewith.