Patent ID: 7190141

Claim:
A modular exoskeletal device adapted to fit the lower extremities of a patient during rehabilitation, the device comprising: only two actuators during the standing stage of rehabilitation, the actuators affixed to and independently acting upon the patient and providing automatically controlled motion to at least one of the joints of the patient; a stationary control unit separated from the patient and in communication with and automatically directing the actuators without patient actuation, the control unit including a hybrid mathematical control algorithm based upon the sliding-mode control theory such that the actuator forces are automatically adjusted as the patient regains control of some joint motions; and a back brace affixed to the patient, extending vertically between the waist and shoulders of the patient, and helping to keep the torso of the patient in a stable, substantially vertical position, wherein the modularity of the device permits incorporation of one or more additional actuators as needed by the patient.