Patent Document ID: 9968406
Application ID: 14404853
Patent Flag: 1

Claim One:
1. An apparatus for restoring voluntary control of locomotion in a subject suffering from a neuromotor impairment comprising a multidirectional trunk support system and a device for epidural electrical stimulation, wherein the device for epidural electrical stimulation is used to modulate spinal cord neurons to facilitate communication between a brain of the subject and a spinal cord of the subject, and wherein said multidirectional trunk support system comprises: a. a robotic interface actuating an end effector in a plurality of degrees of freedom; b. compliant elements integrated in or attached to said robotic interface to provide compliant/elastic or viscoelastic behavior at said end effector in said degrees of freedom; c. sensors to measure movement of said end effector resulting exclusively from this compliance; or sensors to measure a force resulting from the movement of this compliance; d. an interface to the subject using said apparatus to facilitate a transfer of an arbitrary wrench in said degrees of freedom to said subject.