| Class / Patent application number | Description | Number of patent applications / Date published |
|---|
| 601035000 | Pair of legs | 75 |
| 20080249438 | Passive Swing Assist Leg Exoskeleton - Gait training apparatus and method for use thereof for providing leg swing assistance to a patient. The apparatus comprises a support structure and one or more leg orthoses attached to the support structure, each leg orthosis comprising a thigh member attached to the support structure at a hip joint, and a shank member attached to the thigh member at a knee joint. Both members have respective connectors for securing them to the corresponding body parts of the patient. The hip joint and knee joint are each biased by biasing members. The support structure may comprise a frame defining a patient activity region, including a base, a back support, a pair of support handles, and a weight support member mounted above the activity region. A method of using the device comprises selecting parameters for the biasing members using information about the patient. | 10-09-2008 |
| 20100063424 | WALKING ASSISTANCE DEVICE - A walking assistance device having a seating member ( | 03-11-2010 |
| 20100094182 | JOINT DRIVE LEG LINK MECHANISM AND WALKING AUXILIARY EQUIPMENT - A joint drive type link mechanism provided with a link including a joint portion at an intermediary thereof, and a driving source for the joint portion, wherein a link member configuring the link is mounted with the driving source and electric components used for the control of the driving source, in which the link is prevented from being heated by the heat of the electric components is provided. The link member includes an interior space in which the electric components are arranged and has the driving source arranged thereon with an air inlet connecting to the interior space and an exhaust outlet for exhausting the air passing through the interior space. Further, the interior space is provided with fans as well as a heat sink for cooling the air after air-cooling the electric components. | 04-15-2010 |
| 20100113989 | WALKING ASSISTANCE DEVICE - A walking assistance device has a drive mechanism for driving a third joint of a leg link of the walking assistance device, the drive mechanism including a crank arm secured to a lower link member and a linear-motion actuator which has a linear-motion output shaft connected to the crank arm. The angle formed by a straight line connecting a joint axis of the third joint and a connecting portion of the linear-motion output shaft relative to the crank arm and a straight line which passes the connecting portion and which is parallel to the axial center of the linear-motion output shaft changes from an angle closer to the straight angle toward an angle closer to the right angle as the flexion degree of the leg link is increased from a flexion degree corresponding to a state wherein a user is in an upright posture. | 05-06-2010 |
| 20100152630 | WALKING ASSISTANCE DEVICE AND CONTROLLER FOR THE SAME - A walking assistance device is capable of preventing a load transmit portion thereof from falling due to gravity when the operation of an actuator of the walking assistance device is stopped. A leg link is provided with an elastic member that imparts, to a third joint, an urging torque for restraining the flexion degree of the leg link from changing from a predetermined first flexion degree due to the gravity acting on the walking assistance device in a reference state wherein a foot-worn portion connected to the load transmit portion through the leg link is in contact with a ground and the flexion degree of the leg link the third joint is the first flexion degree. | 06-17-2010 |
| 20100234777 | MOTION ASSIST DEVICE - A motion assist device for assisting a periodical motion of a creature such as a human by applying a force with appropriate strength to the creature so as to match a motion scale with a desired motion scale thereof regardless of a motion rhythm of the periodical motion. According to the motion assist device ( | 09-16-2010 |
| 20100249674 | WALKING TRAINER - A walking trainer having at least one orthotic, with holding devices for the foot or leg area of a user, which is moved along a preset motion track to execute a natural walking movement. Devices in the form of rolling or gliding means are provided on the underside of the orthotic for allowing the orthotic to glide on a surface below the walking trainer. | 09-30-2010 |
| 20100262048 | PASSIVE EXERCISE MACHINE - In a signal processor | 10-14-2010 |
| 20100268129 | GAIT TRAJECTORY GUIDING DEVICE OF GAIT REHABILITATION DEVICE - A gait trajectory guiding device of a gait rehabilitation apparatus is disclosed. The gait trajectory guiding device includes a pair of guideway actuating plates ( | 10-21-2010 |
| 20100298746 | WALKING ASSISTANCE DEVICE - A walking assistance device comprises a pelvic frame ( | 11-25-2010 |
| 20110066088 | Self contained powered exoskeleton walker for a disabled user - A walker by a mobility impaired disabled user while moving through a set of movements correlating to a walking motion. The walker comprises an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control system | 03-17-2011 |
| 20110071442 | Robot for gait Training and Operating Method Thereof - A robot for gait training includes a walking-assist robot (100) configured to by put on legs of a walking trainee; a treadmill (200) with a conveyor belt floor which moves at a designated speed in order for the walking trainee to continuously perform gait training at a fixed position; a load-hoist (300) for upwardly supporting the body of the walking trainee; and a controller (400). The controller (400) includes an input unit (410) for receiving or inputting information or commands about size of the body of the walking trainee, and a speed, angle and rotational force of each joint required for training of the walking trainee, an information storage device for selectively storing the information and commands received through the input unit (410), a control unit for controlling a driving state of the walking-assist robot (100), the treadmill (200) and the load hoist (300) according to the information or commands input through the input unit (410) or transmitted from the information storage device, and a monitor (420) for numerically or graphically displaying the information transmitted from the walking-assist robot (100), the treadmill (200), the load hoist (300) and the information storage device. Therefore, it is possible to check the angle, speed and torque of each joint of the walking trainee in real time. As a result, by comparing the current walking of the walking trainee with a standard walking pattern appropriate for the training for the walking trainee, it is possible to analyze and determine whether the gait training is correctly performed and which walking pattern is more appropriate for the walking trainee. | 03-24-2011 |
| 20110082398 | Gate master - The present invention is for rehabilitation, mainly for stroke, brain or nerve damaged patients. Due to a stroke, brain injury or nerve damage a patient's feet become paralyzed unresponsive and the feet turn inward not allowing a proper gate. The patient must relearn lower legs, feet and gate control. The Gate Master embodiment provides rehabilitative stimulation to the lower legs and feet, while improving gate control. | 04-07-2011 |
| 20110105966 | Exoskeleton and Method for Controlling a Swing Leg of the Exoskeleton - A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support 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. | 05-05-2011 |
| 20110144547 | POWER APPARATUS, POWER SYSTEM, AND POWER CONTROL METHOD - A power apparatus comprising includes: a moving section that moves in accordance with an action of a body part; a motor that outputs, during action of the body part in a first action direction, power to the moving section so as to cause the moving section to move in the first action direction and that recovers, during action of the body part in a second action direction, power generated by the movement of the moving section in the second action direction; and a capacitor that stores regenerative electric power generated by the recovery of the power and that supplies the stored regenerative electric power to the motor when the motor outputs the power to the moving section. | 06-16-2011 |
| 20110152732 | MULTI-SENSOR SIGNAL PROCESSING SYSTEM FOR DETECTING WALKING INTENT, WALKING SUPPORTING APPARATUS COMPRISING THE SYSTEM AND METHOD FOR CONTROLLING THE APPARATUS - Provided is a walking supporting apparatus for supporting a user walking by using a multi-sensor signal processing system that detects a walking intent. A palm sensor unit detects a force applied to a palm through a stick to generate a palm sensor signal. A sensor unit detects a force applied to a sole through the ground to generate a sole sensor signal. A portable information processing unit checks a user's walking intent by using the palm sensor signal, and if it is checked that the user has a walking intent, the portable information processing unit generates a driving signal in response to the sole sensor signal. A walking supporting mechanism includes a left motor attached to a user's left leg and a right motor attached to a user's right leg to support the user's walking when the left and right motors are driven in response to the driving signal. | 06-23-2011 |
| 20110172570 | WALKING ASSISTANCE DEVICE - In a walking assistance device configured to apply a walking assistance force to a femoral part of a user, a walking assistance force provided by a power generator mounted on a pelvic support assembly is transmitted to a femoral part of the user via a femoral support assembly. The femoral support assembly includes a swing arm ( | 07-14-2011 |
| 20110172571 | WALKING ASSISTANCE DEVICE - In a walking assistance device ( | 07-14-2011 |
| 20110201978 | WHEELCHAIR TYPE ROBOT FOR WALKING AID - A wheelchair type robot for use as a walking aid wherein an outer skeleton to be worn on the lower body of a user is combined with a lift and a drive part in a wheelchair form. The drive part is furnished with a drive motor and wheels that are installed on a main frame. The lift is furnished with an outer linear guide that is fixed and joined with the main frame, an inner linear guide that can move up and down along same, an upper chair part that connects with the inner linear guide to enable up and down motion, and a lower chair part that connects with the outer linear guide such that unfolds if the inner linear guide descends and folds if it ascends. The outer skeleton is furnished with a lift locking part that is fixed and joined with the upper chair part, an upper frame whereto a thigh brace is joined, a lower frame whereto a calf brace is joined, a hip part that is installed between the lift locking part and the upper frame to rotate the upper frame around the lift locking part, and a knee joint part that is installed between the upper frame and the lower frame to rotate the lower frame around the upper frame. | 08-18-2011 |
| 20110218466 | WALKING ASSISTANCE DEVICE - In a walking assistance device for providing a walking assistance force to a femoral part of a user, the walking assistance force generated by a power generator is effectively transmitted to the femoral part of the user while avoiding the user from experiencing any undue pressure or discomfort. The walking assistance device comprises a rigid femoral support frame ( | 09-08-2011 |
| 20110224586 | WALKING ASSIST DEVICE - In the walking assist device, defining rigidity of a portion from the user to a first joint as K1 [Wm], rigidity of a portion from the first joint to the second joint as K2 [N/m] and rigidity of a portion from the second joint to one of the feet of a free leg of the user as K31 [N/m], when the user is supported by the support member, they are set as: (K1+K31)| 09-15-2011 | |
| 20110251534 | BODY WEIGHT SUPPORT DEVICE - A coil spring | 10-13-2011 |
| 20110257567 | MOTION ASSIST DEVICE - Second joints ( | 10-20-2011 |
| 20110264014 | PORTABLE LOAD LIFTING SYSTEM - A portable load lifting assist system ( | 10-27-2011 |
| 20110264015 | WALKING MOTION ASSISTING DEVICE - Provided is a walking motion assisting device capable of assisting a leg of an agent in walking motion to alleviate an assisting burden or eliminate an assisting necessity by a caregiver. According to the walking motion assisting device ( | 10-27-2011 |
| 20110264016 | WEARABLE ROBOT FOR ASSISTING MUSCULAR STRENGTH OF LOWER EXTREMITY - A wearable robot for assisting muscular strength of the lower extremity of a user: The wearable robot can be worn on user's legs and includes a central securing part, a hip joint part hingably coupled to either side of a lower end of the central securing part, a femur part fastened to the hip joint part and having rigidity, a knee part including an outer frame and a knee assistant, and a drive unit fastened to one of the hip joint part and the knee joint part to allow operation of the joint part. The outer frame includes an upper side outer frame fastened to a lower end of the femur part and a lower side outer frame fastened to the upper side outer frame by a rotatable knee joint part Both the upper side outer frame and the lower side outer frame are fastened to the knee assistant worn by the user. | 10-27-2011 |
| 20110288453 | WALKING MOTION ASSISTING DEVICE - A device capable of assisting an agent in taking a step even in the case where the leg motion of the agent is stagnant. It is determined whether the agent is in a first state in which the leg of the agent is moving or in a second state in which the leg of the agent is stagnant, on the basis of a value detected in response to the leg motion of the agent. If a transition from the first state to the second state is detected as the determination result, a value of a sustained energy input term is increased, where the sustained energy input term is contained in a simultaneous differential equation representing a second model for use in generating a second oscillator ξ | 11-24-2011 |
| 20110288454 | WALKING ASSISTANCE DEVICE - A walking assistance device includes a seating member configured to provide seating for a user; and leg links connected to the seating member. The seating member includes: a seating frame having at least two frames movably connected to each other; a bag member secured to the seating frame; filler contained in the bag member and freely movable in the bag member; and a valve provided on the bag member and capable of switching between a first state in which an inside of the bag member is in communication with an outside of the bag member and a second state in which the communication between the inside and the outside of the bag member is interrupted. | 11-24-2011 |
| 20110288455 | Dynamic Lower Limb Rehabilitation Robotic Apparatus and Method of Rehabilitating Human Gait - A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation. | 11-24-2011 |
| 20110306907 | WALKING ASSIST DEVICE - In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance. | 12-15-2011 |
| 20120046578 | POWERED ORTHOSIS SYSTEMS AND METHODS - Powered orthosis systems and methods are disclosed. An orthosis system includes a frame, a trunk brace adapted to be secured to a user's trunk, a trunk joint coupling the trunk brace to the frame, an upper leg brace adapted to be secured to a user's upper leg, a hip joint coupling the upper leg brace to the trunk brace, a lower leg brace adapted to be secured to a user's lower leg, a knee joint coupling the lower leg brace to the upper leg brace, and a controller. The hip joint or knee joint includes an actuator operable to rotate the adjacent braces relative to each other. The controller is programmed to operate the actuator. An orthosis method includes securing a user to the orthosis system, enabling the user to walk while secured to the orthosis system, and actuating the hip or knee actuator to rotate the adjacent braces. | 02-23-2012 |
| 20120095373 | WALKING ASSISTANCE DEVICE - A walking assistance device applies a walking assistance force from an electric motor to a femoral part of a user. The device comprises a communication unit and an operation switch enabling unit. The operation switch enabling unit disables an operation switch of the walking assistance device until the communication unit receives a signal from an external device even when a power switch is turned on, and enables the operation switch when the communication unit has received a signal from the external device while the power switch is turned on. Thus, unauthorized use of the walking assistance device is prevented, and operation of the walking assistance device is supervised with control parameters suited for the particular user. Also, the walking assistance device can be shared by a plurality of users, and each user can use the walking assistance device with pre-selected control parameters that optimally suit the particular user. | 04-19-2012 |
| 20120101415 | LOCOMOTION ASSISTING APPARATUS WITH INTEGRATED TILT SENSOR - A locomotion assisting exoskeleton device includes a plurality of braces, including a trunk support for affixing to the part of the torso of a person and leg segment braces each leg segment brace for connecting to a section of a leg of the person. The device further includes at least one motorized joint for connecting two of the braces and for providing relative angular movement between the two braces. The device includes at least one tilt sensor mounted on the exoskeleton device for sensing a tilt of the exoskeleton, and a controller for receiving sensed signals from the tilt sensor and programmed with an algorithm with instructions for actuating the motorized joints in accordance with the sensed signals. | 04-26-2012 |
| 20120157894 | WALKING ASSISTANCE DEVICE - A walking assistance device includes a seating member configured to provide seating for a user to sit astride, and leg links connected to the seating member. The seating member includes: a supporting member configured to support the user sitting on the seating member from below the seating member; a movable member configured to contact an inguinal region of the user supported by the supporting member and to be movably supported by the supporting member; and at least one elastic member provided between the movable member and the supporting member and configured to be deformable in accordance with a force applied from the inguinal region of the user to the movable member. | 06-21-2012 |
| 20120172770 | Control System for a Mobility Aid - A control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user. The control system comprises a user interface for receiving input data indicative of a desired movement sequence, a memory component for storing pre-programmed movement data indicative of one or more sequential instructions required to effect the movement sequence, each instruction being associated with relative actuator movements for performing the instruction, and an actuator controller for moving the one or more actuators according to the relative actuator movements for each instruction. The control system also comprises a terrain sub-system for adjusting the actuator movements upon detection of a change in terrain slope and a balance control sub-system for periodically adjusting the balance of the exoskeleton during relative movement of the one or more actuators. | 07-05-2012 |
| 20120215140 | MOTION ASSISTING DEVICE, CONTROL METHOD THEREFOR, AND REHABILITATION METHOD - A motion assisting device or the like, wherein the asymmetry degree of the motion patterns of human limbs is evaluated according to the variation patterns of the values of a pair of posture variables which vary with the postures in the respective same locations of the limbs. Furthermore, the evaluation result of the degree of the asymmetry can be utilized as the foundation of the motion control of the actuator of the motion assisting device. As a result, the motion of the human limbs can be assisted by the motion assisting device in such a manner that the balance of the motion patterns of the limbs is adjusted. | 08-23-2012 |
| 20120253242 | GAIT REHABILITATION MACHINE AND METHOD OF USING THE SAME - A gait rehabilitation machine and a method of using the same are provided for lower-limb rehabilitation. The gait rehabilitation machine includes: a frame; a rear supporting member provided at the frame so that the back side of a human body can lean against the rear supporting member; a thigh supporting member corresponding to a thigh of the human body and pivotally connected to the frame; a shank supporting member corresponding to the corresponding shank of the human body, pivotally connected to the thigh supporting member, and having a petal to be stepped on by the human body; a knee supporting member corresponding to the corresponding knee of the human body and provided at the thigh supporting member or the shank supporting member; and a transmission device for driving the shank supporting member to move. Thus, a patient can do lower-limb gait rehabilitation exercise without using a suspension system. | 10-04-2012 |
| 20120310122 | WALKING ASSIST DEVICE, WALKING ASSIST METHOD, WALKING STATE ESTIMATING DEVICE AND WALKING STATE ESTIMATING METHOD - A walking assist device evaluates the degree of asymmetry between a left motion oscillator, which is a waveform signal indicative of the time-dependent change form of an output of a left hip joint angle sensor, and a right motion oscillator, which is a waveform signal indicative of the time-dependent change form of an output of a right hip joint angle sensor. In order to reduce the degree of asymmetry, the value of at least one of a left bending coefficient, a left stretching coefficient, a right bending coefficient, and a right stretching coefficient is adjusted. | 12-06-2012 |
| 20120316476 | WALKING ASSISTANCE DEVICE - In a walking assistance device ( | 12-13-2012 |
| 20120316477 | BATTERY PACK ENCASING STRUCTURE AND WALKING ASSISTANCE DEVICE USING SAME - A connector provided in a lower middle part of a battery pack, is protected from moisture in a reliable manner while simplifying the installing and removing of the battery pack. A vertical wall of the battery pack is formed with an arch-shaped ridge having a higher middle part and a pair of lower lateral end parts. A battery pack receiving recess is provided with a vertical wall opposing the vertical wall of the battery pack, and a pair of through holes on either lower end thereof. The vertical wall of the battery pack receiving recess is formed with an arch-shaped groove configured to receive the arch-shaped ridge of the battery pack. Moisture that may be deposited on the vertical wall surfaces is trapped by a water channel defined by the groove and the ridge, and drained from the battery pack receiving recess via the through holes. | 12-13-2012 |
| 20130102934 | MOTION ASSIST DEVICE AND WALKING ASSIST DEVICE - A walking assist device has rotational actuators that generate drive forces from electric energy supplied from batteries provided in right and left leg links. If there is a difference in the SOCs of the batteries of the two leg links, then a controller controls the rotational actuators such that the drive force of the rotational actuator corresponding to a battery having a lower SOC is smaller than the drive forces of the rotational actuators in the case where the SOCs of the two batteries are the same, while the drive of the rotational actuator corresponding to a battery having a higher SOC is larger than the drive forces of the rotational actuators in the case where the SOCs of the two batteries are the same. | 04-25-2013 |
| 20130102935 | Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton - A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle. | 04-25-2013 |
| 20130123671 | MOTOR CONTROL DEVICE, WALKING ASSIST DEVICE, AND MOTOR CONTROL METHOD - A motor control device includes: a coil temperature detection unit which detects a coil temperature of a motor; an upper limit current determination unit which determines an upper limit value of a coil current in which a coil temperature after a lapse of a first predetermined time from the present is maintained at an upper limit temperature or lower, every time a second predetermined time shorter than the first predetermined time elapses, by using a coil temperature detected by the coil temperature detection unit; and a coil current control unit which controls the coil current so as to be equal to or lower than the upper limit value. | 05-16-2013 |
| 20130123672 | LOCOMOTION ASSISTING DEVICE AND METHOD - An exoskeleton bracing system includes: a trunk support for affixing to the trunk of a disabled person and leg braces for connecting to the legs of the person, each leg brace including limb segment braces. Motorized joints are adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support. One or more ground force sensors are designed to sense ground force exerted on each of the leg braces. The system also includes a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance. | 05-16-2013 |
| 20130138020 | WALKING ASSIST DEVICE - A walking assist device is capable of operating at an appropriate cycle in view of the motion cycle of a human being to be assisted while at the same time reducing the number of control parameters to be adjusted or set. A second phase oscillator, based on which the phase of the periodic operation of each actuator is controlled, is calculated on the basis of the difference between a first phase oscillator, which indicates a phase of the periodic motion of each thigh relative to the upper body of a human being, and the second phase oscillator, and an intrinsic angular velocity. A current intrinsic angular velocity is set by correcting a previous intrinsic angular velocity by an amount based on a previous difference between the first phase oscillator and the second phase oscillator such that the previous difference approaches a desired difference. | 05-30-2013 |
| 20130158445 | ORTHESIS SYSTEM AND METHODS FOR CONTROL OF EXOSKELETONS - An orthesis system includes an exoskeleton configured to be coupled to a user and a separate support device in the form of crutches, a walker or a cane. Preferably, the exoskeleton includes leg supports, an exoskeleton trunk, and actuators to provide for movement of the exoskeleton. The support device includes at least one support handle and a signal generator coupled to the support handle configured to generate and send a user command signal to an exoskeleton controller when activated by the user. The user command signal causes the exoskeleton controller to shift the exoskeleton between a first operational state and a second operational state. Optionally, a signal generator separate from the support device may be utilized to control the exoskeleton. Operational states of the exoskeleton include Walking, Standing, Seated, Sitting, Down and Standing Up states. User command signals can include a combination of distinct main, walking, or stopping signals. | 06-20-2013 |
| 20130197408 | MOVEMENT ASSISTANCE DEVICE - A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent. | 08-01-2013 |
| 20130245512 | LOCOMOTION ASSISTING DEVICE AND METHOD - An exoskeleton bracing system includes: a trunk support for affixing to the trunk of a disabled person and leg braces for connecting to the legs of the person, each leg brace including limb segment braces. Motorized joints are adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support. One or more ground force sensors are designed to sense ground force exerted on each of the leg braces. The system also includes a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance. | 09-19-2013 |
| 20130253385 | MOTORIZED EXOSKELETON UNIT - A motorized exoskeleton device comprising: at least two segments, where one segment is superior to the other, the exoskeleton device configured to be coupled to a lower extremity of a user. The exoskeleton device further comprising at least two motorized joints for connecting the at least two segments and for providing relative angular movement between the at least two segments; and the motors coupled to the same superior segment of the exoskeleton device. | 09-26-2013 |
| 20130261513 | LOCOMOTION ASSISTING DEVICE AND METHOD - An exoskeleton bracing system includes: a trunk support for affixing to the trunk of a disabled person and leg braces for connecting to the legs of the person, each leg brace including limb segment braces. Motorized joints are adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support. One or more ground force sensors are designed to sense ground force exerted on each of the leg braces. The system also includes a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance. | 10-03-2013 |
| 20130274640 | EXERCISE AND GAIT-TRAINING APPARATUS - An exercise and gait-training, apparatus includes a framework adapted for location above a surface, a harness to support a person relative to the framework, an orthosis adapted for attachment to a lower leg or a foot of one leg of said person, a first pair of first actuators connected to the framework and to the harness whereby one side of the harness is moved to move a hip or a thigh of said one leg of said supported person relative to the framework, a second pair of first actuators connected to the framework and to the orthosis whereby the orthosis is moved relative to the framework, and a controller to control and to synchronize operation of the actuators such that the first leg is moved in a pathway simulating a natural movement of the leg during walking, a running or a sporting activity. | 10-17-2013 |
| 20130303950 | Exoskeleton Load Handling System and Method of Use - An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device. | 11-14-2013 |
| 20130331744 | WEARABLE MOTION SUPPORTING DEVICE - A wearable motion supporting device includes a waist portion frame having a long base portion in a right-left direction of a wearer, a pair of right and left lower extremity frames connected to a lower portion of the waist portion frame, a back portion frame connected to an upper portion of the base portion of the waist portion frame, and a connection portion connecting the back portion frame and the base portion of the waist portion frame. The connection portion is made of a rotational mechanism of one DOF (Degree Of Freedom) on a frontal plane, for example, a four-node link mechanism. | 12-12-2013 |
| 20140012164 | WEARABLE ACTION ASSISTING DEVICE, INTERFACE DEVICE THEREFOR, AND PROGRAM - A wearable action assisting device comprises an optional control unit for generating a first instruction signal for generating power depending on a biological potential signal in a drive source, an autonomic control unit for generating a second instruction signal for generating power depending on a phase of a task of the wearer in the drive source, a generation unit for generating a drive current of the drive source based on the first and second instruction signals, a display unit having a screen displaying thereon a coordinate axis corresponding to a strength of the power, a detection unit for detecting the coordinate of a designated position in the screen, and a setting unit for extracting parameters corresponding to the detected coordinate from a table defining a correspondence between a coordinate in the screen and parameters of the signal processing, and for setting the extracted parameters in the optional control unit. | 01-09-2014 |
| 20140058299 | GAIT TRAINING DEVICE AND GAIT TRAINING SYSTEM - A gait training device operates in cooperation with a wearable motion assist device that specifies a walking phase of a wearer, and applies power to the wearer in correspondence to the walking phase of the wearer, the gait training device including: a body weight support device that lifts up the wearer to support a weight applied on feet; a moving unit that is movable according to a walking motion of the wearer; and a control device that controls a moving speed of the moving unit and/or an amount of body-weight support by the body weight support device based upon a position of a center of gravity of the wearer detected by the wearable motion assist device. | 02-27-2014 |
| 20140100493 | Bipedal Exoskeleton and Methods of Use - A bipedal exoskeleton configured to be worn by a human user. The exoskeleton includes a soft “backpack”-style harness that interfaces primarily with the user's waist, back, and shoulders. A chassis is provided to mount two positively-driven legs. Each leg includes features that are analogous to a human leg—a hip joint, a thigh, a knee joint, a calf, and a foot plate. Each leg of the exoskeleton is physically connected to one of the human user's legs. A thigh cuff is used to connect to the user's thigh. A shin cuff is used to connect to the user's calf. A foot plate rests beneath the sole of the user's foot. Power actuators are provided in the exoskeleton's hip and knee joints, and possibly additional locations. A user interface is provided in one or more locations so that the user can control desired functions of the exoskeleton. | 04-10-2014 |
| 20140100494 | SMART GAIT REHABILITATION SYSTEM FOR AUTOMATED DIAGNOSIS AND THERAPY OF NEUROLOGIC IMPAIRMENT - The present invention describes a Smart Gait Rehabilitation System (SGRS). The present invention is capable of performing a quantitative analysis of human movements based on the simultaneous measurement of within-subject stride-to-stride changes in gait using accelerometers, gyroscopes, goniometers, and electromyography (EMG). The system described in the present invention is based on step-training that incorporates sensory feedback, provide feedback about kinematics and torques, and proceeds at walking speeds typical of overground ambulation. | 04-10-2014 |
| 20140121575 | WALKING MOTION ASSIST DEVICE - According to a walking motion assist device | 05-01-2014 |
| 20140142475 | MOVEMENT ASSISTANCE DEVICE - A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent. | 05-22-2014 |
| 20140148738 | EXERCISE SUPPORT APPARATUS AND EXERCISE SUPPORT METHOD - There is provided an exercise support apparatus including a leg rod connected to a waist region and a foot region of a user and including a linear motion actuator, a waist connecting section configured to connect one end of the leg rod to the waist region, and a foot region connecting section configured to connect the other end of the leg rod to the foot region. | 05-29-2014 |
| 20140163435 | SWINGING LEG PENDULUM MOVEMENT AID FOR WALKING, AND ASSISTANCE FORCE CONTROL METHOD - A swinging leg pendulum movement aid for walking including a pair of assisting units for a left leg and a right leg each having a drive source for applying a pulling force to an auxiliary force transmission part, a joint angle sensor for detecting a joint angle of user's hip joints, and a control member for driving the drive sources of the respective assisting units corresponding to changes in the joint angle and applying an assistance force in a forward swinging direction to the swinging leg that kicked off a ground so as to aid a pendulum movement of the swinging leg. | 06-12-2014 |
| 20140200491 | Fail-Safe System for Exoskeleton Joints - An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism. | 07-17-2014 |
| 20140276266 | GAIT REHABILITATION APPARATUS HAVING LATERAL ENTRY MECHANISM AND LATERAL ENTRY METHOD USING THE SAME - Disclosed herein is a gait rehabilitation apparatus including a first frame having a bottom surface which is movable at predetermined speed; a second frame extending upwards from a tip of the first frame; a load support unit which is mounted to an upper end of the second frame and is rotatable about a rotation axis thereof; a connection string, one end of which is connected to the load support unit, and the other end of which is connected to an upper body of a rehabilitant; a safety bar which is connected to the second frame and is rotatable so as to be tilted upwards; and a gait assistance link member which has a structure able to be tilted upwards, and is connected to each leg of the rehabilitant entering onto the first frame to assist rehabilitation training of the rehabilitant through mechanical movement of the gait assistance link member. | 09-18-2014 |
| 20140276267 | Orthotic Load Assistance Device - A load assistance device in which the soldier moves the device, not vice versa, includes a load receptor for receiving load from the mass; a boot clamp for transmitting the load to the user's boot; and a linkage connected between the load receptor and the boot clamp, the linkage having an actuated condition in which the linkage transmits load downward from the load receptor into the boot clamp and having an unactuated condition in which the linkage does not transmit load downward from the load receptor into the boot clamp. At least one sensor senses the user's stride. A computer is responsive to the sensor for controlling movement of the linkage between the actuated and unactuated conditions. The linkage is moved into the actuated condition upon sensing of the commencement of the stance phase of the user's stride and is moved into the unactuated condition in response to sensing of the heel lift phase of the user's stride. | 09-18-2014 |
| 20140343465 | GAIT REHABILITATION ROBOT HAVING PASSIVE MECHANISM FOR SHIFTING CENTER OF GRAVITY - The gait rehabilitation robot having a passive mechanism includes: a first auxiliary link member connected to a portion between the pelvis and the knee of a rehabilitating person; a joint coupled to a lower end of the first auxiliary link member; a second auxiliary link member coupled to the lower end of the joint and connected to a portion between the pelvis and the knee of the rehabilitating person; a first spring coupled to an upper end of the first auxiliary link member to prevent introversion and extroversion of a hip point from occurring when the rehabilitating person is walking; a foot support which comes into contact with the foot of the rehabilitating person; an ankle joint for connecting the foot support and the second auxiliary link member; and a second spring coupled to a side of the foot support to compensate an entropion angle. | 11-20-2014 |
| 20140371640 | TRAINING DEVICE FOR HUMAN WALKING MOVEMENT - A walking movement device is provided for producing a walking movement of a human being with two controlled foot guiding units, each having a foot plate for placing a foot thereon. The foot plates are alternately movable forward and backwards in opposite directions to stimulate the walking movement. The foot plates are coupled with at least one drive unit, via which drive unit the walking movement of the foot plates can be produced, and have a suspension unit for easing the weight on the human being. The foot plates each have a front and a rear partial area with the at least one drive unit being configured to move the rear partial area out of the common plane with respect to the front partial area and back again during the walking movement of the foot plates, in order to enable bending of the midfoot toe joint during the movement process. | 12-18-2014 |
| 20150025423 | CONTROL SYSTEM FOR EXOSKELETON APPARATUS - A control system for an exoskeleton for a limb of a user wherein the limb has an upper portion connected to the body of a user and a lower limb portion is provided. The control system controls operation of one or more drive motors that rotate one or more joints of the exoskeleton. Input signals from pressure sensors and positional sensors are monitored and, when the input signals fall within expected values, one or more control actions may be implemented. | 01-22-2015 |
| 20150045703 | Human Machine Interface for Lower Extremity Orthotics - A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a particular application, the orientation of a stance leg is used to determine when the user wants to initiate a step, as well as when the user is in a safe position from which to take a step. The invention has particular applicability for use in enabling a paraplegic user to walk through a controlled operation of a human exoskeleton coupled to the user's lower limbs. A controller receives inputs regarding a motion desired by the user, determines the desired motion and then controls the movement of the user's legs or limbs through actuation of the exoskeleton. | 02-12-2015 |
| 20150051520 | MOBILITY AID AND REHABILITATION DEVICE AND RELATED COMPENETS - A mobility and exercise system includes a user support platform, a leg platform connected to the user support platform, a first linearly movable mount and a second linearly movably mount each coupled to the leg platform and movable relative to the leg platform in two directions parallel to a longitudinal axis of the leg platform. A first abducting arm and a second abducting arm are coupled to the leg platform, each by a respective hinge. The first and second abducting arms are movable relative to the leg platform by swinging motion away from the longitudinal axis and back toward the longitudinal axis. A first foot cradle is mounted on the first linearly movable mount or the first abducting arm, and second foot cradle is mounted on the second linearly movable mount or the second abducting arm. | 02-19-2015 |
| 20150290072 | Cervical Traction Device - A device for applying traction to the cervical vertebrae to reduce fracture dislocation of the cervical spine, said device including: a support surface adapted to support a patient lying upon his or her back; a load transmitting means adapted to be connected at one end to a patient under treatment and lying upon said support surface; the other end of said load transmitting means being adapted to be connected to a load applying means; said load applying means being movable along a regular or irregular curve to any of a range of predetermined positions between a first position which places the patient's cervical spine in flexion and a second position which places the patient's cervical spine in extension. | 10-15-2015 |
| 20150351988 | STANDING PLATFORM - An apparatus includes a platform and an actuator. The platform includes a first platform region with a first surface, and a second platform region with a second surface. The actuator is operatively coupled with the first platform region and with the second platform region, and moves the apparatus between a first and a second state. At the first state, the first surface defines a first orientation, and the second surface defines a second orientation, where the first and second orientations are substantially symmetric and the first and second surfaces are substantially at the same height as one another. At the second state, the first surface defines a third orientation, and the second surface defines the second orientation, where the third orientation is not symmetric with the second orientation. The availability of more than one platform configuration encourages a user standing on the platform to assume varied standing postures. | 12-10-2015 |
| 20160022527 | DEVICE FOR RELIEVING OR PREVENTING LOWER BACK PAIN - A device for treating or preventing lower back pain that is simpler and less costly than previous similar devices. Among the features of the device are a leg rest height adjustment arrangement that is simple to operate and provides substantially continuous height adjustment, a leg rest folding mechanism that pivotally couples the leg rest to a leg rest support shaft to place the leg rest in operative and storage positions, and a flexible cover that does not substantially change its length during height adjustment. | 01-28-2016 |
| 20190142682 | TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE | 05-16-2019 |
| 601036000 | Bicycle | 2 |
| 20080221492 | Exercise stand and active/passive pedalling device - An active and passive motion device for therapeutic exercise of upper and lower extremities, in the form of a pedaling device for therapy of leg and associated articulations. The device comprises a combination exercise stand and active/passive pedaling device that enables users with and/or without motor skills to remain generally stationary and seated in a chair or wheel chair and use their legs to actively pedal the device or have their legs moved by the pedaling device. Disclosed in an aspect thereof is an improved ankle strap sandal for use in such therapy. A lift enables the pedaling device to be vertically positioned relative to the wheelchair user when atop the support stand. | 09-11-2008 |
| 20130310716 | SYSTEMS AND METHODS FOR IMPROVING MOTOR FUNCTION WITH ASSISTED EXERCISE - One embodiment of the present invention includes a system and method for alleviating symptoms of a medical disorder of a patient by forced exercise. The system includes an exercise machine having movable portions that move in response to a first contribution by a patient and in response a second contribution by a motor. The system further includes at least one mechanical sensor and a control system programmed to alter the second contribution by the motor in response to the sensed data. | 11-21-2013 |
