Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and iC a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currents

Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.

Abstract: Apparatus for connecting a motor controller to an electrical motor, said apparatus comprising: a motor interface board; a mounting mechanism for mechanically connecting said motor interface board to the electrical motor; at least one input lead for electrically connecting said motor interface board to at least one of an electrical power source and an electrical signal source; at least one output lead for electrically connecting said motor interface board to the electrical motor; and at least one connector for mechanically and electrically connecting said motor interface board to the motor controller.

Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.