Many of the current implementations of exoskeletons for the lower extremities are conceived to either augment the user’s load-carrying capabilities or reduce muscle activa-tion during walking. Comparatively little research has been conducted on enabling an exoskeleton to increase the agility of lower-limb movements. One obstacle in this regard is the inertia of the exoskele-ton’s mechanism, which tends to reduce the natural frequency of the human limbs. A control method is presented that produces an approximate compensation of the inertia of an exoskeleton’s mechanism. The con-troller was tested on a statically mounted, single-degree-offreedom (DOF) exoskeleton that assists knee flexion and extension. Test subjects performed multiple series of leg-swing movements in the context of a computer-based, sprint-like task. A large initial acceleration of the leg was needed for the subjects to track a virtual target on a computer screen. The uncompensated inertia of the exoskeleton mechanism slowed down the transient response of the subjects’ limb, in comparison with trials performed without the exoske-leton. The subsequent use of emulated inertia compensation on the exoskeleton allowed the subjects to improve their transient response for the same task.

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Many of the current implementations of exoskeletons for the lower extremi-ties are conceived to either augment the user’s load-carrying capabilities or reduce muscle activation during walking. Comparatively little research has been conducted on enabling an exoskeleton to increase the agility of lower-limb movements. One obstacle in this regard is the inertia of the exoskeleton’s mechanism, which tends to reduce the natural frequency of the human limbs. A control method is presented that produces an approximate compensation of the inertia of an exoskeleton’s mechanism. The controller was tested on a statically mounted, single-degree-offreedom (DOF) exoskeleton that assists knee flexion and extension. Test subjects performed multiple series of leg-swing movements in the context of a computer-based, sprint-like task. A large initial acceleration of the leg was needed for the subjects to track a virtual target on a computer screen. The uncompensated inertia of the exoskeleton mechanism slowed down the transient response of the subjects’ limb, in comparison with trials performed without the exoskeleton. The subsequent use of emulated inertia compensation on the exoskeleton allowed the subjects to improve their transient response for the same task.

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[Problem to be Solved] 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. [Means for Solving the Problem] 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 means (30, 72) which restrains at least one of a plurality of rotational movements provided by the rotary apparatus.

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The present invention describes, generally, a method and system for controlling the dynamics of an actuatable load functioning or operable within a servo or servo-type system, wherein the dynamics of the load are controlled by way of a unique pressure control valve configured to provide intrinsic pressure regulation. The pressure control valve, which may be referred to as a dynamic pressure regulator because of its capabilities, utilizes dual spools that are physically independent of one another and freely supported in the valve body to regulate the pressures acting within the overall system between the control or pilot pressure and the load or load pressure. The dual spools of the pressure control valve, although physically independent of one another, function in cooperation with one another in an attempt to maintain a state of equilibrium in the system, namely to keep pressure acting on or within the actuator (the load pressure), or the feedback force corresponding to the load pressure, the same as the control or pilot pressure. Moreover, pressure regulation and control is intrinsic to the pressure control valve because of the configuration and function of the dual spools and the mechanical feedback system acting on the spools, thus eliminating the need for electronically or mechanically user controlled systems.

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A foot pad device and a method of obtaining weight data from a force sensor in a foot pad worn by a user engaging in a footstep, including placing the force sensor under the ball of the foot of the user and/or the heel of the foot of the user; receiving an entered patient weight value for the user; collecting force data from the force sensor; calculating a weight value based on the collected force data and a scaling and/or offset parameter; comparing the calculated weight value to the entered patient weight value; comparing the calculated weight value to zero; adjusting the scaling and/or offset parameter; and repeating the steps periodically. The method may include comparing the collected force data to a functionality indication range, flagging the force sensor if the collected force data is outside the functionality indication range, and disregarding force data from the flagged force sensor.

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