Abstract: A wellness apparatus, comprising: at least one support for a body portion of a user of the apparatus; at least one robotic actuator adapted to move the body portion; and a controller configured to control the actuator in accordance with needs of the user for physical exercise, the controller also adapted for assisting the user with primarily non-physical exercise activity.

Abstract: An apparatus for rehabilitation, comprising, an elongate object adapted to be hand-held and manipulated using fingers and be used in a task; and a fine motion mechanism coupled to said object and adapted to apply force to said object, sufficient to at least move said object.

Abstract: A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient's limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising: exercising a patient at a first place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home, using an actuator of said actuator type which interacts with a motion of said patient; and second exercising said patient at a second place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home using a second actuator of said actuator type which interacts with a motion of said patient; wherein said first exercising and said second exercising utilize a same movement mechanism design for moving the actuators.

Abstract: The invention relates to a rehabilitation device which guides a patient to perform a motion with a correct spatial trajectory, by the device applying one or more pushing, assisting, reminding, responding and/or resisting forces during a motion (or intent to move) by the patient. The forces are applied by an actuator, for example, a robotic articulated arm or a spherically jointed lever. The applied forces act as a force fields, optionally continuous, which impeded and/or guides a patient. The device can be programmable with various trajectories (paths and/or velocities) and/or forces. The forces at one point in the trajectory can vary responsive to an actual trajectory by the patient and/or responsive to a rehabilitation plan and/or improvement of the patient. The device can learn a motion entered by a physiotherapist and replay it for the patient.

Abstract: Apparatus for rehabilitating a patient who has a paretic body part, the apparatus comprising: a) at least one electromyography (EMG) sensor adapted to being applied to a voluntary muscle of a healthy body part of the same type as the paretic body part which at least one sensor produces at least one EMG signal; b) a neuromuscular electrical stimulation (NMES) device adapted to stimulating at least one voluntary muscle of the paretic body part; and c) a controller which controls the NMES device, making the amplitude of stimulation of the paretic body part at least partly dependent on the EMG signal from the healthy body part.

Abstract: A rehabilitation apparatus with at least three degrees of freedom of motion, comprising: a plurality of brakes; a motor, wherein the motor is operationally connected to the brakes; a plurality of surfaces, wherein each of a plurality of the surfaces correlates to a brake; and, wherein when the motor is activated, the brakes are selectively advanced to make contact with the surfaces causing friction between the brakes and the surfaces and thus causing variable resistance in the three degrees of freedom to the apparatus based on the extent of advancement of the brakes.

Abstract: A computerized clinic management system. The system includes a database of patient records and a database of clinic resources reflecting a temporal availability of each individual resource in the database of clinic resources. The system optionally also includes and a scheduling module designed and configured to determine an initial subset of clinic resources required for an initial treatment plan for a patient based upon analysis of the database of patient records and to determine an initial schedule of therapy for said patient based upon further analysis of temporal availability of the subset of said clinic resources.

Abstract: An exercise apparatus, comprising: a resistance element, operative to supply a resistance to movement by a user of the apparatus; and, an actuator module operatively connected to the resistance element and operative to vary a resistance perceived by the user without changing the resistance element.

Abstract: A multi-function end effector includes a plurality of tool change mechanisms in a housing in which a spindle is also mounted for translation along an axis of the spindle. Each tool change mechanism has a gripper that releasably grips a tool holder in which a tool is mounted. The gripper of each tool change mechanism is movable between a stowed position to a tool-change position in which the gripper is coaxially aligned with the axis of the spindle for placing a tool holder held in the gripper in a position to be received by the spindle and for positioning the gripper to receive a tool holder from the spindle. The tools mounted in the tool holders include a drill bit, a countersink tool, and a fastener insertion tool. The end effector also includes a fastener feed system, a hammer device, and a sealant applicator.

Abstract: A multi-function end effector includes a plurality of tool change mechanisms in a housing in which a spindle is also mounted for translation along an axis of the spindle. Each tool change mechanism has a gripper that releasably grips a tool holder in which a tool is mounted. The gripper of each tool change mechanism is movable between a stowed position to a tool-change position in which the gripper is coaxially aligned with the axis of the spindle for placing a tool holder held in the gripper in a position to be received by the spindle and for positioning the gripper to receive a tool holder from the spindle. The tools mounted in the tool holders include a drill bit, a countersink tool, and a fastener insertion tool. The end effector also includes a fastener feed system, a hammer device, and a sealant applicator.

Abstract: An end effector is disclosed which translates in a cartesian coordinate system including a first axis and a second axis perpendicular to the first axis. The end effector includes apparatus for receiving a laser beam from an articulated optical delivery system and for transmitting it along the first and the second axes and translating apparatus for translating the apparatus for receiving and for transmitting along the first and the second axes. Also disclosed is a method for cutting utilizing the end effector.