A portable load lifting assist system (100) includes a movable support structure including an exoskeleton torso (160) including an exoskeleton trunk (109) that is configured to be coupled to a person’s upper body, and a load lifting mechanism (221) secured to the movable support structure including a winch (229) having a motor driven reel mechanism for reeling first and second lifting straps or cables (222) that are secured to first and second end effectors (223). First and second handles (224) are attached to an outside surface of the first and second end effectors, wherein the lifting straps or cables when driven by the winch lift a load contacted by the first and second end effectors. A lower extremity exoskeleton (120) is configured to be coupled to a person’s lower limbs. The exoskeleton trunk couples to the person’s upper body through an upper body interface device (150(a)) that is coupled to the lower extremity exoskeleton.

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A robotic tendon is modeled and the stiffness of the spring is tuned so that the spring power reduces the peak motor power and energy required for ankle gait. When determining stiffness from gait literature, it is usually assumed that one side of the spring is fixed. We assume that the spring is translating to derive a second method to calculate stiffness. By choosing a tuned spring based on a “dynamic stiffness”, the motor velocity was shown to be constant during the loading phase of ankle gait. We simulated this system and showed that energy was reduced and peak power was dramatically reduced. The constant velocity controller was implemented on a powered ankle foot orthosis and test data was correlated with the simulation.

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30-летний Тим Хеммес (Tim Hemmes) из США спустя семь лет после мотоциклетной аварии, из-за которой он остался парализованным ниже шеи, смог дать «пять» своей девушке. Благодаря медикам, новому интерфейсу мозг-компьютер и роботизированной руке, которой он управлял посредством одних только мыслей.

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