A lower extremity exoskeleton (100), configurable to be coupled to a person, includes two leg supports (101, 102) configurable to be coupled to the person’s lower limbs, an exoskeleton trunk (109) configurable to be coupled to the person’s upper body, which is rotatably connectable to the thigh links (103, 104) of the leg supports (101, 102) allowing for the flexion and extension between the leg supports (101, 102) and the exoskeleton trunk (100), two hip actuators ( 145, 146) configured to create torques between the exoskeleion trunk (109) and the leg supports (101, 102), and at least one power unit (201) capable of providing power to the hip actuators (145, 146) wherein the power unit (201) is configured to cause the hip actuator (145, 146) of the leg support (101, 102) in the swing phase to create a torque profile such that force from the exoskeleton leg support (101, 102) onto the person’s lower limb during at least a portion of the swing phase is in the direction of the person’s lower limb swing velocity.

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A technique for providing a variable-ratio coupling between output shaft and input motor involves driving an output shaft with drivers that are out of phase with each other. Advantageously, the technique provides a gear reduction via a simple, high-efficiency mechanism; continuous output torque is provided by alternating the load between two belts deflected by, by way of example but not limitation, cam devices.

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A walking assist device, which is to be worn on a person’s leg, includes a shank link, a thigh member, and a knee mechanism. The thigh member is in contact with the person’s thigh when the device is worn on the person’s leg. The knee mechanism rotatably connects the shank link to the thigh member. When the shank link is in contact with the ground, the knee mechanism is configured to resist the rotation of the shank link relative to the thigh member to prevent the person’s foot from contacting the ground and reduces ground reaction forces entering the person’s foot.

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A semi-actuated above knee prosthetic system (100), includes a shank link (105) coupled to an artificial foot (108), a knee mechanism (107) connected to the shank link (105) and a thigh link (103) attached to an above-knee remaining lower limb (110) of an amputee, is operable in two modes controlled by a signal processor (130) linked to various sensors (120,122,124,126,127). In the actuated mode, power is delivered to a torque generator (104) connected to the knee mechanism (107) to move thigh (103) and shank links (105). In the un-actuated mode, a control circuit (204) operates in a non-powered manner with modulated resistance in the knee mechanism (107). Power is delivered through an electric motor (202) connected to a battery source (205) and employed to drive a hydraulic pump (201) as part of an overall hydraulic power unit (200) including the torque generator (104).

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A rehabilitation supporting device 1 includes a first frame 11 arranged along a first skeletal portion extending from a joint, a second frame 12 arranged along a second skeletal portion extending from the joint in a direction different from a direction of the first skeletal portion, an angle sensor 131 arranged to detect a rotational angle position between the first frame and the second frame, a flexion-side biosignal sensor 14 arranged to detect a biosignal of a flexor, an extension-side biosignal sensor 15 arranged to detect a biosignal of an extensor, a calibration unit 31 arranged to determine a flexion-side correction value and an extension-side correction value individually, and a memory unit 34 arranged to store individual correction values of the biosignals different for individuals, the flexion-side correction value, and the extension-side correction value.

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