Abstract: An exercise apparatus includes a linear arm portion having an elongate arm member with proximal and distal ends and an elongate support member having proximal and distal ends. The arm member can be slidably mounted to the support member by a sliding joint positioned at the distal end of the support member. The arm member can be movable along a first axis between retracted and extended positions. The sliding joint can include first and second bearing assemblies which are spaced apart a sufficient distance from each other for constraining portions of the arm member within the sliding joint. The proximal end of the arm member that overlaps with the support member outside of the sliding joint when in retracted positions can be capable of some unconstrained lateral movement relative to the first axis. A linear arm brake assembly can be coupled to the arm member for resisting linear motion of the arm member.

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: An exercise handle including a rotatable handle member pivotably connected between two side members by two handle member side pivots. A parallel bar member can be pivotably connected between the two side members spaced away and parallel to the handle member. The parallel bar member can be connected between the two side members by two bar member side pivots. A central support member can be pivotably connected to the parallel bar member by a central pivot, providing the handle member with side to side tilting relative to the central support member. A central joint can be connected to the central support member for connecting to an exercise device.

Abstract: An exercise apparatus includes a linear arm portion having an elongate arm member with proximal and distal ends and an elongate support member having proximal and distal ends. The arm member can be slidably mounted to the support member by a sliding joint. A linear arm brake assembly can be coupled to the arm member for resisting linear motion of the arm member. A torso portion can be included to which the linear arm portion is rotatably mounted about a second axis by rotary shoulder joint. The linear arm portion can be configured, and the rotary shoulder joint can be positioned along the length of the support member at a location that substantially balances the linear arm portion about the rotary shoulder joint at least when the arm member is in the retracted position.

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 limb interface device for an exercise apparatus includes a handle member within an inner frame member rotatable about a first axis with a first joint, for gripping by a user. At least one outer support member supports the inner frame member. The inner frame member is rotatable about a second axis orthogonal to the first axis with a second joint. An outer arc member supports the at least one support member. The at least one support member is rotatable about a third axis orthogonal to the second axis with a third joint. An arm member supports the outer arc member. The outer arc member can rotate about a fourth axis that is orthogonal to the third axis with a fourth joint. The arm member can also be rotatable about a fifth axis that is longitudinal to the arm member and orthogonal to the fourth axis with a fifth joint.