An exoskeleton worn by a human user consisting of a rigid pelvic harness worn about the waist of the user and exoskeleton leg structures each of which extends downwardly alongside one of the human user’s legs. The leg structures include hip, knee and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and said human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arresting the movement of the knee joint at controllable times during the walking cycle, and spring located at the ankle and foot member stores and releases energy during walking.

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A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint. The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.

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The lower extremity exoskeleton comprises two leg supports connectable to person’s lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person’s upper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

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A modular exoskeletal device adapted to fit the lower extremities of a patient during rehabilitation. The device has only two actuators during the standing stage of rehabilitation. Two additional actuators can be added, as modules, during the walking stage of rehabilitation. The actuators are affixed to the patient and provide controlled motion to at least one of the joints of the patient. A stationary control unit is separated from the patient. The control unit communicates with and directs the actuators, and has a hybrid control algorithm, such that the actuator forces are adjusted as the patient regains control of some joint motions, which is based upon the sliding-mode control theory. A back brace is affixed to the patient and helps to keep the torso of the patient in a stable, substantially vertical position.

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The gait-locomotor apparatus of the present invention is a device for overcoming impeded locomotion in humans and is aimed at enabling people with handicapped lower limbs to walk. The gait-locomotor apparatus that is wore on a disabled user comprises a brace having a plurality of jointed segments that are adapted to fit the lower body of the disabled user and propulsion means that is adapted to provide relative movement between the plurality of jointed segments. The gait-locomotor apparatus further comprises at least one sensor adapted to monitor the angular position of at least one of the plurality of jointed segments and a control unit that is adapted to supervise the propulsion means and to receive feedback information from the sensors so as to facilitate the brace to perform walking patterns. The disabled user that wears the gait-locomotor apparatus of the present invention is able to steadily stand in a stance position supported by the brace, and is able to walk in various walking patterns using the control unit while fully participating in the process.

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