Systems, methods and devices for restoring or enhancing one or more motor functions of a patient are disclosed. The system comprises a biological interface apparatus and a joint movement device such as an exoskeleton device or FES device. The biological interface apparatus includes a sensor that detects the multicellular signals and a processing unit for producing a control signal based on the multicellular signals. Data from the joint movement device is transmitted to the processing unit for determining a value of a configuration parameter of the system. Also disclosed is a joint movement device including a flexible structure for applying force to one or more patient joints, and controlled cables that produce the forces required.

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Прикованному к инвалидному креслу 43-летнему японцу Сэйдзи Утида (Seiji Uchida) не удалось покорить 4164-метровую вершину Брейтгорн (Breithorn) в швейцарских Альпах с помощью силового роботизированного костюма HAL (Hybrid Assistive Limb). В то же время мечта инвалида частично сбылась — до самого крутого подъёма горы он всё же добрался.

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(EN)A motion assistance device has a biological signal detection means for detecting a biological signal from the wearer of the device; a motion assistance device installation member having a drive source for applying torque acting to the wearer by use of each joint of the wearer as a rotating shaft; a control means for controlling the drive source to generate torque corresponding to the biological signal detected by the biological signal detection mean; a drive torque estimation means for estimating the drive torque generated by the drive source; a joint angle detection means for detecting angular displacement of a joint; and a parameter identification means for substituting the drive torque estimated by the drive torque estimation means and the angular displacement detected by the joint angle detection means into an equation of motion to specify the wearer-specific dynamics parameter, the equation relating to the entire system and including wearer-specific dynamics parameter. The control means controls the drive source according to a predetermined control method, based on the equation of motion into which the dynamics parameter identified by the parameter identification means is substituted.
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