Device Catalog

This page shows the gait-assistive devices and the upper-body and seated-mobility environments. For the human MSK models, see MSK Models. Every device composes with every MSK model. For the authoritative, installed set, run python -m assist_sim list.

Gait-assistive devices

Lower-limb exoskeletons and prosthetic legs, each shown composed with a myoLeg model.

OpenSourceLeg_A_L1 on a myoLeg model OpenSourceLeg_A_L1 device closeup

OpenSourceLeg_A_L1

Transtibial prosthetic

Open-Source Leg, ankle configuration.

OpenSourceLeg_KA_L1 on a myoLeg model OpenSourceLeg_KA_L1 device closeup

OpenSourceLeg_KA_L1

Transfemoral prosthetic

Open-Source Leg, knee-ankle configuration.

KFoot_L1 on a myoLeg model KFoot_L1 device closeup

KFoot_L1

Transtibial prosthetic

Passive transtibial prosthetic with a spring-damper ankle.

NEUankle_L1 on a myoLeg model NEUankle_L1 device closeup

NEUankle_L1

Powered transtibial prosthetic

Powered transtibial prosthetic with an actively driven ankle.

STRIDE_L2 on a myoLeg model STRIDE_L2 device closeup

STRIDE_L2

Cable-driven ankle exo

Bilateral ankle exo with a closed six-bar linkage and Bowden cables.

DephyExoBoot_L1 on a myoLeg model DephyExoBoot_L1 device closeup

DephyExoBoot_L1

Ankle exoskeleton

Bilateral ankle exoskeleton (Dephy ExoBoot).

Humotech_L1 on a myoLeg model Humotech_L1 device closeup

Humotech_L1

Ankle exo with cables

Bilateral ankle exo with plantarflexion and dorsiflexion cables.

OpenExo_L1 on a myoLeg model OpenExo_L1 device closeup

OpenExo_L1

Ankle exoskeleton

Bilateral ankle exoskeleton (OpenExo).

UTAnkleExo_L2 on a myoLeg model UTAnkleExo_L2 device closeup

UTAnkleExo_L2

Parallel-linkage ankle exo

Bilateral parallel-linkage ankle exoskeleton.

Anatomics_L1 on a myoLeg model Anatomics_L1 device closeup

Anatomics_L1

Ankle exoskeleton

Bilateral instrumented soles with a passive right shank and foot frame.

HMEDI_L1 on a myoLeg model HMEDI_L1 device closeup

HMEDI_L1

Hip-flexion cable exo

Bilateral hip-flexion cable exoskeleton with a torso piece.

Hippo_L1 on a myoLeg model Hippo_L1 device closeup

Hippo_L1

Hip-flexion exoskeleton

Bilateral hip-flexion exoskeleton with fixed-gain hip actuators.

Tutorial_L1 is a stripped-down teaching device for onboarding and baselines (no render). OSL_A and OSL_KA are registered aliases for the OpenSourceLeg keys.

Upper-body and seated-mobility environments

These environments cover assistance above the legs and seated mobility. They are built by dedicated functions in assist_sim/upper_body.py, not the modular MSK × device pipeline, so they do not appear in python -m assist_sim list.

AuxivoLiftsuit on a muscled torso

AuxivoLiftsuit

Back exosuit

A passive back exosuit on the muscled myotorso.

Wheelchair environment

Wheelchair

Seated mobility

A seated human propelling a manual wheelchair.

MPL bimanual robot

MPL

Bimanual prosthetic

A bimanual Modular Prosthetic Limb robot. It also drives the bionic-bimanual manipulation task.

Wheelchair, AuxivoLiftsuit, and the bionic-bimanual task also expose a build_*_spec() companion that returns the uncompiled MjSpec. export_upper_body_xml(spec, path) writes it to a standalone, reloadable XML.

Listing combinations 

python -m assist_sim list

This returns the live {msk: [device, ...]} map, showing only the MSK models that resolve in the installed myo_sim.

from assist_sim import get_available_combinations
print(get_available_combinations())