Abstract: A shoulder range of motion machine includes a stationary base frame and a shoulder-manipulation mechanism including a movable base frame supported on the stationary base frame for at least pivoting motion about a main vertical axis. A horizontal linear actuator is configured to drive the movable base frame in at least pivoting motion with respect to the stationary base frame about the main vertical axis. A vertical support is mounted on the movable base frame. An arm-carrier support is mounted on the vertical support for at least pivoting motion about a main horizontal axis. An arm-carrier-angle linear actuator is configured to drive the arm-carrier support in at least pivoting motion with respect to the vertical support about the main horizontal axis. An arm carrier is mounted on the arm-carrier support. A controller is operatively connected to at least one of the horizontal linear actuator or the arm-carrier-angle linear actuator.

Abstract: A range-of-motion device for a joint includes first and second link members for securing to a first and a second limb connected by the joint. A flexion-extension actuator drives movement of the second link member with respect to the first link member. An intermediate linkage may engage the first and second link members. A base link may engage the first link member and may be supported by a transverse support member. A vertical support frame may support the transverse support member. The transverse support member may be configured to provide free pivoting within a free-pivoting range of motion of the base link with respect to the transverse support member.

Abstract: A multiple-joint therapy machine includes a support frame and a rotatable base supported at a selectable height on the support frame. The rotatable base is configured to be releasably securable at a selectable angular orientation with respect to the support frame. A carrier link is at least pivotably mounted with respect to the rotatable base and is movable at least pivotably with respect to the rotatable base about a main axis. A geared hinge at least pivotably connects the carrier link with respect to the rotatable base. The geared hinge includes a main shaft and an attached sun gear. A planet carrier is rotatably attached to the main shaft. A planet shaft and an attached planet gear are rotatably attached to the planet carrier.

Abstract: A multiple-joint therapy machine includes a support frame and a rotatable base supported at a selectable height on the support frame. The rotatable base is configured to be releasably securable at a selectable angular orientation with respect to the support frame. A carrier link is at least pivotably mounted with respect to the rotatable base and is movable at least pivotably with respect to the rotatable base about a main axis. A geared hinge at least pivotably connects the carrier link with respect to the rotatable base. The geared hinge includes a main shaft and an attached sun gear. A planet carrier is rotatably attached to the main shaft. A planet shaft and an attached planet gear are rotatably attached to the planet carrier.