Abstract: A prosthetic coupling device including a first coupling part and a second coupling part is provided. The first coupling part has a first end and a second end and the second coupling part has a first end and a second end. The first end of the first coupling part is connectable to the first end of the second coupling part, and the second end of the first coupling part is connectable to a prosthetic adapter element of a first prosthetic member. The second end of the second coupling part is connectable to a prosthetic adapter element a second prosthetic member. The prosthetic coupling device further includes first and second manually operable locking arrangements, which are separately operable and each locking arrangement has a locked configuration and a release configuration. Furthermore, the prosthetic coupling device is transferable from a connected state to a disconnected state only when both of the locking arrangements are in the release configuration. A use of a prosthetic coupling device is also provided.

Abstract: An electromagnetic actuator for non-continuous rotation (cogging-torque actuator (CTA)) (100) comprises a support structure (116), an output shaft (104) rotatable about and defining an axis of rotation (X), a permanent magnet rotor (106) comprising at least two magnetic poles (108a, 108b) attached to the output shaft (104), and a stator device (110) comprising a ferromagnetic pole body (112) attached to the support structure (116) and surrounding the at least two magnetic poles (108a, 108b). The ferromagnetic pole body (112) can have at least four ferromagnetic stator poles (112a-d) each wrapped in a conductive wire (114a-d) to define a stator coil. The at least four ferromagnetic stator poles (112a-d) are sized, and spaced radially from each other, so as to define a maximum cogging torque of the electromagnetic actuator (100). The CTA (100) can operate as an actuator, an elastic spring, a clutch, and/or a load support device.

Abstract: Disclosed herein are apparatus, systems and methods for protecting a patient's groin area and better redistributing forces while distracting the patient's hip. These generally involve anatomically correct protective pad and/or a winged protective cup which be used in conjunction with one another or independently. The anatomically correct protective pad may include a groin-facing portion including a recess for housing/protecting a patient's genital region. The pad may further include opposing thigh-facing portions configured to align with the inner thighs of the and better distribute forces (e.g., distraction forces) away from the groin region and longitudinally across a surface area of the inner thighs. The winged protective cup may include a saddle or winged configuration including opposing wings extending from a cup portion and also configured to distribute forces away from the groin region and longitudinally across a surface area of the inner thighs.

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

Abstract: A passive prosthetic foot enables a below-knee amputee to walk with near able-body walking motions. The prosthetic foot includes a resilient heel that enables the heel to strike a walking surface more softly than in the prior art and more accurately transition the leg from swing phase to stance phase. The prosthetic foot is modeled generally as a wide Bézier curve, and the foot is characterized according to a set of at least 12 variables, including h, C1d, C2x, C2y, C2d, C3x, C3y, C3d, C4x, C4d, C5d and C6d, where C3y is heel size, C4x is heel geometry and C6d is curve intersection location. The variables are optimized to minimize a difference between a normal lower leg trajectory during gait and a modeled trajectory that includes the prosthetic foot.

Abstract: A walking assistance device and method for providing an assist torque to an ankle of a user is provided. To provide an assist torque to an ankle of a user, the walking assistance device generates a leg image by capturing a second leg using a camera attached to a first leg, determines a gait state of the second leg based on the leg image, determines an assist torque value output to the first leg based on the gait state of the second leg, and controls a driving device such that the assist torque value is output to the first leg.

Abstract: A prosthetic connector system for use with a prosthetic socket having a distal end includes a plate defining a plurality of holes and attachable to the distal end of the prosthetic socket. A component is removably attachable to the plate via the plurality of holes and arranged to connect a prosthesis to the prosthetic socket. The plate defines an outer periphery having an asymmetrical configuration contoured to substantially correspond to at least a portion of the component when the component is attached to the plate via at least some of the holes.

Abstract: A prosthetic cover (104) for a prosthetic support element (102) can include a substantially cylindrical hollow body (106) with a first end and a second end and sized to fit around a support element of a prosthesis. A first flexible end seal (108) and a second flexible end seal (110) can each attach with the substantially cylindrical hollow body at the first and second ends, respectively, and connect the hollow body with the support element of the prosthesis by deforming about the support element when the prosthetic cover is installed around the support element.

Abstract: It is an object of the present invention to provide a technique capable of making a knee joint of an artificial leg close to a movement of a knee of a human body with a simple configuration.

Abstract: Disclosed herein is a mechanical joint for an exoskeleton ankle. The mechanical joint includes a first connector (e.g., to attach to a foot), a second connector (e.g., to attach to a leg), a stack of at least partially nested cones between the first connector and the second connector (e.g., at an outstep of the foot), and a strand extending through the second connector and the cone stack. The second connector is configured to freely translate away from the first connector and freely tilt relative to the first connector. Similarly, the second cone is configured to freely translate away from the first cone along the strand and freely tilt relative to the first cone. Accordingly, the mechanical joint provides vertical support (e.g., of an exoskeleton structure) while minimizing angular resistance (e.g., about an ankle joint).

Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.

Abstract: A prosthetic device includes an internal frame assembled from multiple longitudinal members and multiple transverse members that are substantially planar in character and are arranged to be joined together. A medially arranged opening is defined in each transverse member, and is substantially registered with openings of adjacent transverse members to form a longitudinal passage, such as may be useful to receive an actuator and/or other items. At least some transverse members differ from one another in one or more of shape, length, or width. A covering member may be provided over the internal frame. Rear-facing gaps in transverse members may receive one or more elements such as dampers, batteries, or the like.

Abstract: Described is an improved brain-machine interface including a neural interface and a controllable device in communication with the neural interface. The neural interface includes a neural device with one or more sensors for collecting signals of interest and one or more processors for conditioning the signals of interest, extracting salient neural features from and decoding the conditioned signals of interest, and generating a control command for the controllable device. The controllable device performs one or more operations according to the control command, and the neural device administers neuromodulation stimulation to reinforce operation of the controllable device.

Abstract: Provided is a motion transmission mechanism 30 of a limb motion support device 1A configured so as not to transmit the movements of a pair of braces 10R and 10L attached to right and left legs to spring members 20R and 20L in a state where the bending degrees of the right and left legs are smaller than a predetermined bending degree in the case where both of the right and left legs equipped with the braces 10L and 10R are bent from a stretched state and configured to transmit the movements of the braces 10L and 10R to the spring members 20L and 20R via a wire 31 after the bending degrees of the legs increase to be larger than the predetermined bending degree.

Abstract: A prosthetic foot structure includes a plate assembly having a toe portion and a heel portion. The plate assembly includes a first plate adjoining a second plate along a seam at which the first plate is bonded to the second plate. The seam has an end between the first and second plates, and the first plate is spaced from the second plate across a gap that reaches away from the end of the seam. An attachment structure attaches the first plate to second plate. The attachment structure has a composite composition including a resin material containing reinforcing fibers. The reinforcing fibers reach through the first plate, across the gap, and through the second plate.

Abstract: An orthotic device is provided which includes a first structural element; a second structural element which is rotatably attached to the first structural element across a joint; a first rotary actuator which imparts rotational motion to the first structural element relative to the second structural element about a first axis; and a second rotary actuator which imparts rotational motion to the first structural element relative to the second structural element about a second axis. Each of the first and second rotary actuators is selected from the group consisting of parallel eccentric actuators and rotary actuators.

Abstract: An orthotic or prosthetic joint device with an upper part and a lower part arranged in a hinged manner on the latter, and a fastening member for securing the joint device on a user. The device includes at least one hydraulics unit positioned between the upper part and the lower part, which hydraulics unit has a piston that is movable in a housing with an extension chamber and a flexion chamber and that is coupled to the upper part or the lower part. The hydraulics unit is assigned a pressure supply device with a pump and a pressure accumulator via which the piston, controlled by a control device, is subjected to a pressure. The pump can be operated in generator mode, the pressure accumulator can be coupled drivingly to the pump, and the hydraulic fluid can be conveyed by the pressure accumulator through the pump to the hydraulics unit.

Abstract: A prosthesis cosmetic element for a prosthesis comprising a prosthesis joint which has an upper part and a lower part that is mounted thereon in a pivotal manner about a pivot axis, the prosthesis cosmetic element has a first frame part, which has at least one first securing device for fixing on the lower part, and a second frame part with at least one second securing device for securing on the upper part. The frame parts are mounted in a pivotal manner relative to each other, and the prosthesis joint is equipped with a rotational element on which an actuating element is arranged. The actuating element is accessible from the outside by a frame part or through a frame part.

Abstract: A linking device for an exoskeleton structure is provided. The device an input part mounted in rotation with respect to a support, and a transmission device that when a load is applied to the input part to pivot the input part in a first direction of rotation, the transmission device transmits to a first connecting link a force to pivot the first connecting link to transfer the load to a first mechanical leg assembly and unload a second mechanical leg assembly of the exoskeleton structure, and when a load is applied to the input part to pivot the input part in a second direction of rotation opposite to the first direction, the transmission device transmits to a second connecting link a force to pivot the second connecting link to transfer the load to a second mechanical leg assembly and unload the first mechanical leg assembly.

Abstract: An adjustable socket system includes a plurality of shell components and longitudinal supports connected to a base and is movable between an open configuration to loosen the fit of the adjustable socket system, and a closed configuration to secure the fit of the adjustable socket system on residual limb received therein. A tightening system includes a tensioning unit having a handle defining a moment arm rotatable about a rotation axis, and a tensioning element operatively coupled to the handle via a movable connection point and to the shell components via a control point. Rotation of the handle displaces the movable connection point and the tensioning element relative to the control point to move the adjustable socket system to the closed configuration.

Abstract: Prosthesis including prosthetic links driven by actuators, first sensors that sense current state ZUS(t); second sensors that sense biosignals SIGBIO(t); third sensors that sense data DUMG(t); processing device; and memory storing instructions that, when executed by the processing device, perform operations including: determining based on SIGBIO(t), ZUS(t), and DUMG(t), model MA(t) of an action A, and predicting motions Beweg(MA(t)), dependent on MA(t) for a time period; determining a decision E to replace A with an action A?(E) based on SIGBIO(t), ZUS(t), DUMG(t), and Beweg(MA(t)) according to an evaluation scheme, wherein A?(E) can define a reflexive and/or protective motion, and if A?(E) does not define the reflexive and/or protective motion, then determining model MA?(t) of A?(E) and predicting motions Beweg(MA?(t)), dependent on MA?(t), for the time period; deriving control signals Sig(t) based on Beweg(MA(t)) or Beweg(MA?(t)), or based on the reflexive and/or protective motion, and controlling/regulatin

Abstract: A lower limb modular prosthetic system that may be fabricated by a 3D printer capable of printing with composite fiber filament, nylon, or metal. The production process may include a 3D printer that is capable of routing fiber in specifically programmed patterns. The components of the prosthetic system may be designed for direct patient end-use, and may be energy returning in nature.

Abstract: A method for tailoring a compression garment including a first sheet and a second sheet, each having a first lateral end and a second lateral end, at least one strap for holding together the first lateral end of the first sheet and the first lateral end of the second sheet. The strap is tightenable to establish a compression level to a human limb or body part. The method includes: adjusting the strap; draping the compression garment around the limb or the body part; holding the second lateral end of the first sheet and the second lateral end of the second sheet together to pull the first sheet, the second sheet and the strap into contact with the limb or body part; marking a cutting line on one or both sheets; cutting the sheets along the cutting line; and splicing together both cut ends with at least one splicing element.

Abstract: An apparatus includes a detachable foot and a connector for detachably connecting a prosthetic limb socket to the detachable foot. The connector includes a proximal connector detachably connected to the prosthetic limb socket. The proximal connector has a proximal portion of a locking mechanism. There is also a distal connector detachably connected to the detachable foot. The distal connector includes a distal portion of the locking mechanism. The proximal portion of the locking mechanism and the distal portion of the locking mechanism are detachably connecting the proximal connector to the distal connector.

Abstract: A prosthesis including a socket configured to receive a residual limb, a pylon attached to the socket, the pylon comprising at least one fin, and an artificial foot attached to an end portion of the pylon.

Abstract: A follow-up control device for an exoskeleton robot includes an upper arm and a lower arm, and the lower end of the upper arm and the upper end of the lower arm are connected via a rotatable joint. An active press block capable of sliding in a direction perpendicular to an axis is arranged on the upper arm or the lower arm, the active press block is bonded with a human body, two micro switches are arranged on the upper arm or the lower arm in correspondence to the active press block, a power device for driving the rotation is arranged between the upper arm and the lower arm, and the two micro switches respectively control the forward and backward motion of the power device.

Abstract: An adjustable prosthesis system for a residual limb includes: an adjustable outer shell having a bottom, an adjustable inner volume, and an adjustable inner shape; at least one closure component attached to the outer shell and adapted to adjust the width of the inner volume and/or inner shape; an inner liner adapted to receive the residual limb and to be inserted in the inner volume; and an adjustable connector having a proximal end adjustably connected to a distal end of the outer shell and adapted to provide concurrently for a plurality of directional adjustments and/or angular adjustments of a position of the distal end of the outer shell relative to the proximal end of the connector, a distal end of the connector adapted to connect to a prosthetic device, wherein adjustments of the width(s) and the connector provide for a custom-like fit of the prosthesis on the residual limb.

Abstract: A prosthetic foot device (1) having a longitudinal direction (L) and a transverse direction (T) and comprising a base spring blade (2), an ankle spring blade (3) being made from a composite material comprising glass fibers and a heel spring blade (4), the base spring blade (2) and the ankle spring blade (3) being connected in a forefoot region (5) of the prosthetic foot device (1), the base spring blade (2) and the heel spring blade (4) being connected in a heel region (7) of the prosthetic foot device and the ankle spring blade (3) and the heel spring blade (4) being connected in an ankle region (9) of the prosthetic foot device.

Abstract: A frequency detector includes an oscillation related information output portion to which moving body position related information and a correction parameter are input, and which outputs a frequency adjustment parameter and estimated moving body position related information; a frequency estimating portion to which the frequency adjustment parameter is input, and which outputs an estimated frequency; and an adjusting portion to which the moving body position related information, the estimated moving body position related information, and the estimated frequency are input, and which outputs the correction parameter.

Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

Abstract: A system and method for deploying an occluding device that can be used to remodel an aneurysm within the vessel by, for example, neck reconstruction or balloon remodeling. The system comprises an introducer sheath and an assembly for carrying the occluding device. The assembly includes an elongated flexible member having an occluding device retaining member for receiving a first end of the occluding device, a proximally positioned retaining member for engaging a second end of the occluding device and a support surrounding a portion of the elongated flexible member over which the occluding device can be positioned.

Abstract: An attachment lock (27) for a prosthetic limb including a housing (28) having an opening (32) for insertion of a prosthetic locking pin (13). A locking member (29) is mounted within the housing (28) and is arranged releasably to secure an inserted locking pin (13). The lock (27) includes means (35) to adjust the position of the locking member (29) relative to the housing (28) along the axis of an inserted locking pin (13).

Abstract: The invention relates to an artificial limb casing (1) having an insertion opening (4) for inserting the artificial limb, wherein a joint area (3) to which an end area (2) is integrally connected is formed on the casing (1). The invention further relates to a method for producing an artificial limb casing (1), wherein a textile intermediate layer (8) is applied to the outside of a hollow polyurethane substrate (9), and a silicone layer (7) is applied to the textile intermediate layer. The casing (1) is made of an elastomer material that has a lower Shore hardness in the joint area (3) than in the end area (2).

Abstract: A cane comprises a handle, a foot, and a flexible flat spring member connecting the handle and the foot. The flexible flat spring member may be positioned to flex forwardly in a direction of travel of a user. The handle end may project rearward from a vertical center of the flat spring member. The cane may further comprise a flexible tube shrouding the flat spring member. The cane may further comprise a rigid strut member aligned with the flat spring member for selectively locking the flat spring member into a rigid condition and a first notch positioned for selectively engaging a lower end of the rigid strut member, such that the flat spring member is locked into a rigid condition when the lower end of the rigid strut member is engaged with the first notch.

Abstract: An automatic guiding system for analyzing ground texture in or on an autonomous mobile device comprises an image acquisition module, a ground texture analysis module, a posture sensing module, and a ground texture database. The image acquisition module collects ground images as the autonomous mobile device moves. The ground texture analysis module processes the ground images, and extracts texture information of the ground images. The posture sensing module continuously senses the posture of the autonomous mobile device. The ground texture database is configured to stores the texture information and the posture.

Abstract: A foot prosthesis having an upper part and a lower part, which is set on the ground as the user walks, one part being arranged on top of the other a certain distance away. The two parts are connected to each other at the tip of the foot. The upper part and the lower part are formed by a one-piece component. In the area near the heel, an elastic damping element is arranged between the upper part and the lower part and is connected to the upper part and/or to the lower part. A compressible but longitudinally strong connecting element, which connects the upper part to the lower part, and which is guided through a recess in the damping element, is provided.

Abstract: Safety harness (100) having an upper portion (6) for surrounding a torso of a wearer and a lower portion (8) configured to clutch calves of the wearer. The harness includes left and right guide straps (26) which extent from the upper portion (6) to the lower portion (8) and which each accommodate a tension member (54) which may be a steel cable which is slideable within a wear preventing sheath. The lower portion (8) includes clutching means (12) which have calf straps (38). A lower portion of each tension member (54) is laced between spaced ends of the one or more calf straps (38) in such a manner that tensioning of the tension member (54) causes one or more of the calf straps (38) to clutch a calf of the wearer. An upper portion of the tension member (54) is connected to or constitutes a lanyard (60) for connection to a restraint. The harness (100) may include a pair of overalls (102) or a pair of trousers.

Abstract: An alignment adapter for prosthetic sport feet, such as running feet, includes a male pyramid plate having a male pyramid, a female connector plate having a female connector, and a back plate. For use during alignment of a prosthetic running foot, the male pyramid plate is coupled to the back of a user's socket and the female connector plate and back plate are clamped about the foot. The male pyramid and female connector are coupled and adjusted relative to one another to achieve a desired alignment. The socket and foot are locked in an alignment fixture to maintain the alignment and the male pyramid, female connector, and back plates are removed. A laminated plate is coupled to the socket to maintain alignment during normal use.

Abstract: The socket system includes a socket and a vacuum liner. A one-way valve is positioned within the closed distal end of the socket and provides controlled fluid communication between the interior socket space and an external environment. The closed distal end of the vacuum liner includes a distal portion formed of a higher durometer elastomeric material than the surrounding portions of the liner, and including a concave section extending from an external surface thereof towards the interior liner space. The socket, on the interior of the closed distal end thereof, includes a receiving portion that corresponds to and receives the distal portion of the vacuum liner (e.g. matching the perimeter and depth of the distal portion). The receiving portion includes a bottom surface (e.g. a flat surface) opposite to the concave section of the vacuum liner when received therein, and defining an exterior liner space therewith.

Abstract: A metal substrate with picture sized to fit within a locket is created by obtaining an insert, such as a manufacturer-provided insert, that is shipped with the locket. Exact dimensions of the insert are obtained electronically through the use of a camera or scanner, and then a metal insert is created on a metal substrate by cutting the metal substrate to the dimensions of the insert. A photograph or other artistic work is then printed on the metal substrate being a version of an electronic such work previously obtained and sized to fit on the substrate. The metal substrate is then inserted into the locket, in embodiments of the disclosed technology.

Abstract: A prosthetic or orthotic system including a magnetorheological (MR) damper. The MR damper may be configured to operate in shear mode. In one embodiment, the MR damper includes a rotary MR damper. A controller is configured to operate the damper. A mobile computing device may be adapted to intermittently communicate configuration parameters to the controller. A method of configuring a prosthetic or orthotic system is also disclosed.

Abstract: A number of orthopaedic surgical instruments for use in a surgical procedure to prepare a patient's femur to receive an orthopedic prosthesis. The tools include guide tools, cutting tools, surgical blocks, and other orthopaedic surgical instruments configured to plan and guide the preparation of the patient's femur. A method of using the orthopaedic surgical instruments is also disclosed.

Abstract: It concerns a prosthetic device for lower limb of a uses having a leg component, a foot component having a foot shell defining a first cavity within said foot shell and a coves component covering said leg component, said leg, foot and cover components being water compatible. The cover component is formed by an hollow flexible self-carrying sleeve defining a cavity within the sleeve around the leg component, the foot shell comprising a hole on its inner side, overlapping the sleeve on at least one centimeter and presenting an aperture below the sleeve to provide air communication between the cavity and the exterior. The cover component comprises in its upper part, a longitudinal slot, so that the water drains naturally from the first and second cavities.

Abstract: A prosthetic foot includes a heel member having a heel member shaft extending upwardly from a heel end thereof and a forefoot member having a forefoot member shaft extending upwardly from a toe end thereof. An ankle member receives the heel member shaft and forefoot member shaft so as to allow the heel member shaft and forefoot member shaft to translate in a direction of a wearer's leg in response to an upward force thereon. At least one compressible member is coupled to the ankle member and is in compressible contact with the heel member shaft and/or forefoot member shaft so as to compress in response to the translation thereof.

Abstract: The invention relates to a method for the step-by-step correction of the position of the longitudinal axes of segments of the lower extremities in the horizontal and/or frontal and/or sagittal planes, that comprises the simultaneous dosed correction of the imbalance of forces in the muscles supporting the corresponding joints, the reduction of the pathological configurations of the segments, and the fixation of corrected segments using at least one module of a modular exoskeleton capable of individual adjustment for bringing, during each step, the position of the longitudinal axis of each segment closer to the physiologically correct position, and for permitting movements about the corrected rotation axes of the joints within a predetermined range defined by the modular exoskeleton. The proposed device for correcting pathological configurations of segments of the lower extremities comprises a modular exoskeleton, the modules of which can be used independently or in various combinations.

Abstract: Changes in the volume of residual limbs on which prosthetic sockets are worn can be measured based on bioimpedance measurements along one or more segments of the limb. A current at an appropriate frequency (e.g., in the range from 1 kHz to 1 MHz) is injected at two current electrodes that contact the skin of the residual limb. The voltage at the voltage electrodes disposed between the current electrodes is measured and using an appropriate model, the change in the segmented volume of the limb can be determined during periods of different activity and at different times during the day. This information can be used for assessing the fit of the socket and can also provide a feedback signal for automatically controlling volume management devices, to ensure a more comfortable fit when the volume of the limb is changing.

Abstract: An improved thermoplastic material for orthoses and prostheses. This material comprises at least one resin layer of polymeric resin, optionally reinforced with multiple layers or internal fibers, designed to be compatible with vacuum thermoforming, with thickness between 3/64 inches and ¾ inches. The material additionally comprises at least one and optionally two extremely thin cap layers with thickness between 2/1000 and 12/1000 inches, at least one of which is intended for improved compatibility with human skin, and the other of which can be configured for various cosmetic or UV protection purposes. Methods of producing this material, and various orthotic and prosthetic devices using this material, are also taught.

Abstract: Provided are a walk-assistive robot and a method of controlling the same. The method of controlling the walk-assistive robot includes: obtaining ground information that is information regarding ground a walking direction; determining control patterns of the walk-assistive robot by analyzing the obtained ground information; and controlling the walk-assistive robot based on the determined control patterns.

Abstract: A walking assistance device may include at least one walking assistance unit configured to assist a user in walking; and/or a controller configured to control, based on a walk pattern of the user, the at least one walking assistance unit to produce torque only in at least one assistance period needing walking assistance in a walk cycle. A method of controlling walking assistance may include: calculating a walking assistance time using a difference between a start time and a termination time of an assistance period needing the walking assistance in a walk pattern; and/or assisting a user in walking when the assistance period begins, by producing torque for the walking assistance time.

Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.