Abstract: A training, rehabilitation, and recovery system comprises an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at the joints or the user interface member. The system also includes a processor configured to receive from the sensors positional data of the links or joints over an initial movement of the apparatus by a user, from which positional coordinates of the user interface member are calculated and a reference trajectory is established. An end space is defined based on the reference trajectory. Over a subsequent movement of the apparatus by the user, the processor receives additional positional data and determines a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.

Abstract: A training, rehabilitation, and recovery system comprises an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at the joints or the user interface member. The system also includes a processor configured to receive from the sensors positional data of the links or joints over an initial movement of the apparatus by a user, from which positional coordinates of the user interface member are calculated and a reference trajectory is established. An end space is defined based on the reference trajectory. Over a subsequent movement of the apparatus by the user, the processor receives additional positional data and determines a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.

Abstract: A passive exercise apparatus includes an interface member for coupling to a user's limb. An arm member is coupled to the interface member by a wrist joint. The wrist joint has rotational motion about three axes. A first link is coupled to the arm member by a sliding joint. The sliding joint allows translational motion of the arm member relative to the first link. A second link is rotatably coupled to the first link by a first rotary joint. A third link is rotatably coupled to the second link by a second rotary joint. A first brake is coupled to the first rotary joint for resisting movement of the first rotary joint. A second brake is coupled to the second rotary joint for resisting movement of the second rotary joint. A third brake is coupled to the arm member for resisting movement of the arm member. The user is capable of interfacing with the apparatus to exercise a six degree of freedom motion.