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.

Abstract: A limb interface device for an exercise apparatus including a handle member within an inner frame member that can be rotatable about a first axis with a first joint, for gripping with one or two hands by a user. The first joint can be limited to about 40° or less rotation. At least one outer support member can support the inner frame member. The inner frame member can be rotatable about a second axis orthogonal to the first axis with a second joint. An outer arc member can support the at least one support member. The at least one support member can be rotatable about a third axis orthogonal to the second axis with a third joint. An arm member can support 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 fourth joint can allow rotation of about 180° or less rotation and is associated with a centering biasing arrangement for resiliently biasing the outer arc member towards a centered position when rotated.