07190141 is referenced by 54 patents and cites 8 patents.

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.

Title
Exoskeletal device for rehabilitation
Application Number
11/342371
Publication Number
7190141 (B1)
Application Date
January 27, 2006
Publication Date
March 13, 2007
Inventor
Mehdi Nikkhah
Wayne
PA, US
Hashem Ashrafiuon
Wayne
PA, US
Agent
Stradley Ronon Stevens & Young
Assignee
Villanova University
PA, US
IPC
B25J 5/00
View Original Source