Abstract: Provided is an electric lifting slope adjustment device having a vibration damping function and a treadmill. The electric lifting slope adjustment device includes: two lifting supports, a rotating shaft, a driving component and a vibration damping assembly; each of the lifting supports has a rotating end, and the rotating ends of the two lifting supports are rotatably connected to a first inner wall and a second inner wall respectively; the driving component is hinged to a third inner wall, the driving component includes a lifting motor and a lifting rod, a driving end of the lifting motor is connected to the lifting rod; the vibration damping assembly includes a mounting frame and a vibration damping spring, and a compression direction of the vibration damping spring is perpendicular to an axis of the rotating shaft.

Abstract: The learning apparatus includes a data generation unit configured to generate learning data based on rehabilitation data and a learning unit configured to perform machine learning using the learning data. A sensor is provided to detect a plurality of motion amounts in a walking motion of a trainee, and it is evaluated that, when one of the motion amounts matches one of abnormal walking criteria, that the walking motion is an abnormal walking pattern that meets the matched abnormal walking criterion. The data generation unit generates each of the pieces of rehabilitation data before and after a change in the results of evaluation of the abnormal walking pattern as learning data. The learning unit sequentially inputs each of the pieces of rehabilitation data as one data set, thereby performing machine learning.

Abstract: A treadmill includes sensors on a console at the front of the treadmill. The sensors sense the lateral position of a user relative to the edge of the exercise deck and/or the exercise belt. If the user is close to the edge of the exercise deck, then an alert is displayed on the console.

Abstract: A system is described, for rehabilitating the walk comprising an active exoskeleton with a supporting structure for right leg and left leg, bearing and moving structures of femur, tibia and foot of the patient, a weight supporting device for patient and active exoskeleton, the weight supporting device ending with a structure connected to means for supporting exoskeleton and patient, handling means connected to the weight supporting device to allow its movement, means for transmitting to the weight supporting device electric and pneumatic supplies and electric signals for managing, controlling, monitoring and diagnosing the system, a managing system comprising a microprocessor for acquiring and processing data, and managing a motion neuro-rehabilitation session; a weight supporting device for a system for rehabilitating the walk is further described.

Abstract: A treadmill includes a frame having a front end and a rear end, substantially opposite the front end; a front shaft assembly coupled to the frame proximate the front end of the frame; a rear shaft assembly coupled to the frame proximate the rear end of the frame; a running belt disposed about the front and rear shaft assemblies; and a bumper coupled to the frame proximate the running belt such that the bumper is disposed between the running belt and the frame. In use, the bumper is configured to selectively restrict movement of the running belt towards at least a portion of the frame.

Abstract: An auto lock system for a manual treadmill, the auto lock system having a locking mechanism comprising a movable arm having a distal end facing one of the front axle or the rear axle, a locking device at the distal end of the movable arm configured to engage the one of the front axle or the rear axle to inhibit rotation of respective front wheels or rear wheels, and an actuator configured to move the movable arm. A controller is in communication with a sensor configured to detect a user on the tread. The controller is configured to, in response to the sensor detecting no user on the manual treadmill, actuate the actuator to move the movable arm such that the locking device engages the one of the front axle or the rear axle.

Abstract: An exercise apparatus includes a treadmill mounted on a frame with a rotating conveyor providing a moving surface for a person to exercise upon. The exercise apparatus also includes at least three static foot support portions connected to the frame allowing the person to stand on the exercise apparatus and not on the moving surface. First and second static foot support portions of the at least three static foot support portions are on either side of the rotating conveyor, and a third static foot support portion of the at least three static foot support portions is located in front of the moving surface approximately below a grasping handle.

Abstract: Systems and methods for training network-connected objects to provide configurations in association with events within media assets. A respective configuration setting of a network-connected object and a baseline biometric state of a user may be stored in a database for each event within a media asset. An event within a media asset (for display) may be detected. In response, a command may be sent to the network-connected object to implement the respective configuration setting. A determination may be made whether the user adjusts the respective configuration setting to a new configuration setting within a predefined time of the event. A biometric state of the user may be retrieved from a biometric device in response to the adjustment to a new configuration setting. If the biometric state does not correspond to the baseline biometric state, the respective configuration setting may be replaced with the new configuration setting.

Abstract: A protective cover and system for detecting objects within or near an entrapment area on a treadmill or devices that incorporate a conveyor belt. A controller enables the treadmill to operate normally when no objects are detected within or near an entrapment area and is designed to stop the conveyor when an object is detected within or near the entrapment area.

Abstract: Apparatus and associated methods may relate a to natural gait upper body ergometer and gait therapy (UBEGT) device having a support frame within which is suspended rotationally coordinated left and right natural gait modules (NGMs). A position of each NGM may be defined by corresponding left and right pivot arms which are rotatably coupled to a left and right side of the support frame, respectively, and wherein each gait training module is provided with a corresponding foot support and knee support. The UBEGT may be provided with an upper body ergometer (UBE) rotatably coupled to a front of the support frame and configured to rotate a shaft rotatably connected to the left and right pivot arms when a hand crank is rotated.

Abstract: A physical training apparatus includes a housing, a flywheel mechanism accommodated in the housing, the flywheel mechanism including a spindle, at least one flywheel mounted on the spindle and bearings to support the spindle in the housing, a windable pull element, such as a pull cord or band, which is arranged to be wound up the spindle and unwound from the spindle, and a handgrip attached to the pull element. The spindle includes a spindle end portion. The flywheel is exchangeably mounted on the spindle end portion against a stop located on the spindle. A fastening knob is releasably coupled to the spindle end portion and adapted to engage the flywheel and force it against the stop located on the spindle.

Abstract: A deployable mobile trailer with multiple deployable walls is disclosed. The mobile trailer includes wheels rotatably coupled to a base and a frame attached to the base. The frame has vertical supports attached to the base and a top frame assembly disposed at a top end of the vertical supports. First and second elongate deployable walls are rotatably attached to respective first and second sides of the frame. The first and second walls include and are movable between respective retracted and deployed positions. A deployable end wall is rotatably attached to an end of the frame and has a retracted position and a deployed position between which it is movable. Multiple activity devices are removably attached to the top frame assembly, the first elongate deployable wall, the second elongate deployable wall, or the deployable end wall. A mobile activity structure and method for operating a mobile deployable activity structure are also provided.

Abstract: A base exercise device includes at least one modular connection. The base exercise device is operable without any modular units connected to one of the modular connections. A modular unit may be physically connected to the base exercise device. The modular unit includes at least one exercise feature that is not included in the base exercise device.

Abstract: Embodiments of the disclosure discloses a calibration bracket. The calibration bracket includes a base, a vertical rod, a transverse force application member and a transverse force application mating member. The vertical rod is detachably mounted to the base. The transverse force application member is disposed on one of the base and the vertical rod. The transverse force application mating member is disposed on the other of the base and the vertical rod and is configured to be connected to the transverse force application member to apply, to the vertical rod, a force parallel to the base. A limiting protrusion is provided on one of the base and the vertical rod. A limiting opening is provided on the other of the base and the vertical rod. The limiting opening can allow the limiting protrusion to pass through the limiting opening and snugly abut against the limiting protrusion when the transverse force application member applies a transverse force to the vertical rod.

Abstract: A cable actuation system configured to apply a force to a person is disclosed herein. The cable actuation system includes a cable having a first end and a second end, the second end being oppositely disposed relative to the first end, and the first end of the cable configured to be coupled to a person; an actuator operatively coupled to the second end of the cable, the actuator configured to apply a force to the cable; and a control system operatively coupled to the actuator, the control system configured to determine the force being applied to the cable by the actuator, and the control system configured to apply a controlled force to the person by means of the actuator based upon feedback from the force applied to the cable.

Abstract: There is provided a treadmill deck (10) for supporting at least part of a treadmill belt, the deck (10) including a foot strike area (12) disposed towards one end of the deck, and a foot take-off area (14) disposed towards another end of the deck, an upper surface of one of the areas (12, 14) including: a lateral inward or outward slope, which provides a lateral gradient across at least part of the area (12, 14), and an upper surface of the other of the areas (14, 12) including one of: a laterally horizontal surface or a lateral inward or outward slope, which provides a lateral gradient across at least part of that other area (14, 12).

Abstract: A system for a treadmill with a tread that rotates on front wheels supported on a front axle and rear wheels supported on a rear axle includes a locking mechanism. The locking mechanism comprises a first device associated with one of the front axle or the rear axle and configured to prevent rotation of respective front wheels or rear wheels in a first direction and a second device associated with another of the front axle or the rear axle and configured to prevent rotation of the respective front wheels or rear wheels in a second direction opposite the first direction. The system also includes a controller and a sensor configured to detect a user on the tread. The controller is configured to, in response to the sensor detecting no user on the manual treadmill, engage the locking mechanism to prevent movement of the front wheels and the rear wheels.

Abstract: An exercise machine reversible resistance system for reversing the directional force of resistance against an exercise implement before, during, or after the performance of a routine of one or more exercises. The exercise machine reversible resistance system generally includes a frame, an elongated member movably positioned upon the frame, wherein the elongated member has a first run and a second run, a resistance device that applies a resistance force to the elongated member in a single direction, an exercise implement movably connected to the frame and a clutch connected to the exercise implement. The clutch is adapted to selectively engage the first run or the second run of the elongated member for selective control of the resistance direction of the exercise implement.

Abstract: A bounce treadmill is disclosed, with the main feature in that an annular running belt composed of a plurality of running belt units is arranged on a base, and each running belt unit at least comprises: a fixed seat, an elastic element and a running belt piece; wherein, two opposite ends of the fixed seat are respectively fixed to a pair of transmission elements arranged on the base, two ends of the elastic element are respectively fixed to the opposite ends of the fixed seat, two ends of the running belt piece are respectively fixed to the two opposite ends of the fixed seat, and the elastic element is connected to the bottom of the running belt piece, whereby when the running belt piece is bent and deformed under the weight to create a downward force, absorbed by the elastic element and an upward elastic force is provided.

Abstract: A treadmill includes a treadmill frame, an endless belt, and a restricting device. The restricting device has a first strap member and a second strap member located above the endless belt. Each of the first strap member and the second strap member has a first end and a second end. The first end of the first strap member is connected to a right side of the treadmill frame, and the first end of the second strap member is connected to a left side of the treadmill frame. The second end of the first strap member is operable to be removably connected to the second end of the second strap member. The restricting device is configured to constrain a position of a user on the endless belt when the second end of the first strap member is connected to the second end of the second strap member.

Abstract: An apparatus comprising means configured to: determine, based on data representative of a current health state of a first user of a first exercise apparatus, settings for one or more exercise variables of the first exercise apparatus, wherein the settings are tailored to the first user's current health state; and provide the determined settings for configuration of the first exercise apparatus.

Abstract: A treadmill has a front or rear set of pulleys and a looped running belt. The pulleys rotate with the movement of the belt, e.g., when a user walks, jogs, or runs on the treadmill. The pulleys are mounted on a rotating roller tube so that the roller tube rotates with the pulleys. The roller tube is mounted on a stationary shaft using bearings on each side and a one-way device that allows the pulleys to rotate in one direction. The rotation direction corresponds to the movement of the top of the belt from the front to the rear of the treadmill. The one-way device prevents the pulleys from rotating in the opposite direction, preventing the top of the belt from moving from the rear of the treadmill to the front. The one-way device may be a sprag clutch. The treadmill may be a motor-less, curved treadmill.

Abstract: A treadmill having rapid assembly and safe storage features is provided. The treadmill includes a support base, a platform, a pair of upright arms, and a top assembly including a bridge connected to an upper and a lower handrail, the lower handrail includes a bottom portion having pivot flanges, each pivot flange has a first aperture therethrough and a bracket has a second aperture therethrough. A second pivot fastener is installed to connect and attachment tang on the upright arms with the pivot flange of the top assembly. The upright arms and the top assembly can each be rotated a predetermined angle for fixed installation of the upright arms and top assembly with respect to the long axis and platform.

Abstract: A compact and lightweight electronic traveler's scale for determining and tracking a person's weight while away from home.

Abstract: The present invention relates to an apparatus (100, 1001, 1002) for physical activity, comprising: a frame (101); a plurality of rollers (203, 204) rotatably connected to the frame (101); a belt (200) mounted on the plurality of rollers (203, 204) and revolving to define moving belt surfaces (201, 202) comprising: an activity belt surface (201) being configured for physical activity of at least one user (301, 701) and delimited by a side of the frame (101), and a return belt surface (202) being configured for revolving the belt (200) in a never-ending loop; the return belt surface (202) is elevated with respect to the activity belt surface (201).

Abstract: A method of administering a massage that comprises providing a foldable massage table having a first half and a second half and assembling the foldable massage table. The first half of the foldable massage table is locked to the second half of the foldable massage table in an assembled position. At least two portions of a flexible member are secured to opposite sides of the foldable massage table. The massage practitioner stands on the foldable massage table and utilizes the flexible member to assist with delivery of force to a patient lying on the foldable massage table. A foot of the massage practitioner is used to massage the patient.

Abstract: A variable-resistance exercise machine with network communication for smart device control and interactive software applications, comprising a network interface that receives input from a user device and provides output to a user device; a plurality of moving surfaces that each provide an independent degree of resistance to movement based on received input, a sensor that detects movement and provides output to a user device based on the movement.

Abstract: A speed control system and method for controlling the speed of an endless belt loop of a treadmill. The speed control system comprises a plurality of image sensors, each image sensor configured to take an image of a user of the treadmill; and a controller configured to control the speed of the endless belt loop by (a) receiving the images of the user taken by the image sensors, (b) rectifying the images based on a calibration of the image sensors, (c) comparing the images to form a disparity map, (d) determining a distance of a user of the treadmill relative to the treadmill using the disparity map, and (e) calculating velocity or acceleration of the treadmill based on the determined distance of the user.

Abstract: A treadmill may include two separate left and right belts rotating around two sets of rollers, four legs having an adjustable height via air suspension to customize an inclination of the treadmill, a thermoelectric assembly, a fragrance assembly having a rotating fragrance cartridge to emit various smells toward a user of the treadmill, a display on which exercise programs are played, and an attachment module having a dispensing tray on which treats are dispensed. A handle of the treadmill may have a sensor to sense a height and front-rear position, and a belt divider provided between the left and right belts may have position or proximity sensors to sense a left-right position. An inclination of the treadmill may be automatically adjusted according to positions detected by the sensors, and the fragrance assembly, attachment module, and inclination may be automatically operated in accordance with an exercise program played on the display.

Abstract: An exercise storage system includes a storage compartment including at least one storage element. Exercise equipment is stored on the storage elements. A door is connected to the storage compartment with a hinge such that the viewing angle of the door is adjustable. A display on the door includes a backlit display and a mirrored display. A user may select exercise equipment from the storage compartment and perform an exercise activity while viewing the display.

Abstract: An exercise apparatus includes a motor, an operating member driven by the motor, a sensor operable to detect engagement of a user with the operating member, and a controller in communication with the operating member and the sensor. The controller is configured to generate exercise use data when the operating member is driven by the motor. A communication interface is in communication with the controller. In response to the controller determining that the user is engaged with the operating member, the controller is configured to report the exercise use data to the communication interface. In response to the controller determining that the user is not engaged with the operating member, the controller is configured to stop reporting the exercise use data to the communication interface. The communication interface is configured to communicate the reported exercise use data to a third party.

Abstract: The resent disclosure provides a treadmill, including a chassis, stand columns mounted at both sides of the chassis, a deck rotatably mounted on the chassis and configured to rotate relative to the chassis to a longitudinal direction or a horizontal direction, a handrail assembly rotatably mounted on the stand columns and configured to rotate relative to the stand columns to a folded state or an unfolded state, and a controller configured to control rotation of the deck and the handrail assembly. The controller is configured to control the deck to rotate to the longitudinal direction when the controller controls the handrail assembly to rotate relative to the stand columns to be in the folded state, and control the handrail assembly to rotate relative to the stand columns to be in the unfolded state when the controller controls the deck to rotate from the longitudinal direction to the horizontal direction.

Abstract: The application relates to an exercise history managing device. In one aspect, the device includes a map data providing unit configured to provide, to a user terminal, map data about a specific area requested by the user terminal. The device may also include a user relation managing unit configured to manage a relationship between each user and the other users. The device may further include an exercise information managing unit configured to receive information about at least one of an exercise name that is input through the user terminal, a first category obtained by classifying exercises belonging to each exercise name according to a first condition, a second category obtained by classifying an exercise belonging to the first category according to a second condition, and a specific exercise belonging to the second category, store the information, and retrieve exercise information in response to a request from the user terminal.

Abstract: A method includes receiving electronic content via a network, the electronic content comprising an exercise class, and receiving user data associated with a user participating in the exercise class using an exercise machine. The method also includes generating an executable control for a user interface based at least in part on the user data, and providing the executable control, via a display of the exercise machine, while the user is participating in the exercise class. In such a method, the executable control is operable to modify a parameter of the exercise machine while the user is participating in the exercise class.

Abstract: Disclosed are a folding treadmill and a folding method. A folding method of a folding treadmill includes the following steps: unlocking a pin lock assembly to enable a column assembly and a running platform to be in an unlocked free state, then unfolding or folding the column assembly to be in an unfolded state or a folded state relative to the running platform, and locking the pin lock assembly to complete the unfolding or folding of the treadmill. By means of the pin lock assembly, the column assembly can be firmly locked on the running platform no matter whether the column assembly is in the unfolded state or the folded state, thus not only achieving rapid unfolding and folding, but also ensuring the stability of the unfolded state or the folded state, and improving the safety of the folded state.

Abstract: A system for a manual treadmill having a tread that rotates around a front axle and a rear axle and side rails on opposing sides of the tread includes a brake configured to slow rotation of at least one of the front axle or the rear axle, a controller, and a first presence sensor in communication with the controller, the first presence sensor positioned on a side rail and configured to detect a user on the side rail. The brake is not normally engaged during operation of the treadmill when the tread is moving and the first presence sensor does not detect the user on the side rail. The controller is configured to, in response to the first presence sensor subsequently detecting the user on the side rail, engage the brake.

Abstract: A manually powered treadmill includes a frame; a first rotatable element coupled to the frame; a second rotatable element coupled to the frame; a plurality of bearings coupled to the frame; a running belt at least partly supported by the plurality of bearings, where at least a portion of the running belt defines a curved running surface; and a safety device coupled to at least one of the first rotatable element and the second rotatable element. The safety device is structured to substantially prevent rotation of the at least one of the first rotatable element and the second rotatable element in a first rotational direction and permit rotation of the at least one of the first rotatable element and the second rotatable element in a second rotational direction opposite the first rotational direction.

Abstract: An apparatus and method of use thereof for exercising on a treadmill, the apparatus includes a frame that mounts to handles of the treadmill. The frame is an arch shape having a proximal bar, a distal bar opposite the proximal bar, and a curved portion extending between adjacent ends of the proximal bar and the distal bar. The proximal bar is coupled to the handles. A protective cushioned seat extends between the proximal bar and the distal bar. To use the apparatus, an individual can unhook a proximal end of the seat from the proximal bar, position the seat behind the buttocks and between the legs, reengage the proximal end of the seat to the proximal bar, and can then walk or run on the treadmill.

Abstract: A treadmill may include two separate left and right belts rotating around two sets of rollers, four legs having an adjustable height via air suspension to customize an inclination of the treadmill, a thermoelectric assembly, a fragrance assembly having a rotating fragrance cartridge to emit various smells toward a user of the treadmill, a display on which exercise programs are played, and an attachment module having a dispensing tray on which treats are dispensed. A handle of the treadmill may have a sensor to sense a height and front-rear position, and a belt divider provided between the left and right belts may have position or proximity sensors to sense a left-right position. An inclination of the treadmill may be automatically adjusted according to positions detected by the sensors, and the fragrance assembly, attachment module, and inclination may be automatically operated in accordance with an exercise program played on the display.

Abstract: A treadmill may include two separate left and right belts rotating around two sets of rollers, four legs having an adjustable height via air suspension to customize an inclination of the treadmill, a thermoelectric assembly, a fragrance assembly having a rotating fragrance cartridge to emit various smells toward a user of the treadmill, a display on which exercise programs are played, and an attachment module having a dispensing tray on which treats are dispensed. A handle of the treadmill may have a sensor to sense a height and front-rear position, and a belt divider provided between the left and right belts may have position or proximity sensors to sense a left-right position. An inclination of the treadmill may be automatically adjusted according to positions detected by the sensors, and the fragrance assembly, attachment module, and inclination may be automatically operated in accordance with an exercise program played on the display.

Abstract: A treadmill has a front or rear set of pulleys and a looped running belt. The pulleys rotate with the movement of the belt, e.g., when a user walks, jogs, or runs on the treadmill. The pulleys are mounted on a rotating roller tube so that the roller tube rotates with the pulleys. The roller tube is mounted on a stationary shaft using bearings on each side and a one-way device that allows the pulleys to rotate in one direction. The rotation direction corresponds to the movement of the top of the belt from the front to the rear of the treadmill. The one-way device prevents the pulleys from rotating in the opposite direction, preventing the top of the belt from moving from the rear of the treadmill to the front. The one-way device may be a sprag clutch. The treadmill may be a motor-less, curved treadmill.

Abstract: A seated treadmill has a structure with a front portion and a rear portion. A front roller is rotatably mounted on the front portion of the structure, a rear roller is rotatably mounted on the rear portion of the structure, and a belt circumscribes the front and rear rollers. The front and rear rollers are much closer together than prior art treadmills, typically about 10-30 inches. The treadmill may further include a remote control for controlling operation of the treadmill, and a shutoff switch in the event that too much force is placed upon the treadmill, such as if the user attempts to stand on the treadmill.

Abstract: A motion device for a virtual reality interaction includes a core, a running belt carried by the core and a frame. The running belt is configured to wrap the core and capable of sliding on the outer surface of the core. The running belt includes a number of running belt units. A surface of each running belt unit facing the core is provided with a number of grooves, and each groove of each running belt unit is connected with a corresponding groove of an adjacent running belt unit through an elastic strap. The frame is located at a periphery of the running belt and is configured to carry the running belt and the core. A number of first balls are arranged between the frame and the running belt.

Abstract: A treadmill includes a frame, an exercise deck attached to the frame, and a first handle movably attached to the frame. The first handle has a first orientation where the first handle is positioned within a region above the exercise deck and stabilized to support a user's weight during a body weight exercise, and a second orientation where the first handle is positioned away from the region above the exercise deck.

Abstract: The present invention relates to a novel treadmill with elastic band aided system to drive the tread belt. The elastic band aided system includes at least one of the foot attachment, hand attachment, and waist attachment. This elastic band aided system can be used in manual treadmills and motorized treadmills.

Abstract: A treadmill may include two separate left and right belts rotating around two sets of rollers, four legs having an adjustable height via air suspension to customize an inclination of the treadmill, a thermoelectric assembly, a fragrance assembly having a rotating fragrance cartridge to emit various smells toward a user of the treadmill, a display on which exercise programs are played, and an attachment module having a dispensing tray on which treats are dispensed. A handle of the treadmill may have a sensor to sense a height and front-rear position, and a belt divider provided between the left and right belts may have position or proximity sensors to sense a left-right position. An inclination of the treadmill may be automatically adjusted according to positions detected by the sensors, and the fragrance assembly, attachment module, and inclination may be automatically operated in accordance with an exercise program played on the display.

Abstract: A treadmill has a base with a vertically displaceable platform. A mechanism is provided that resists the downward movement of the platform in response to a load applied to the platform. The mechanism also rebounds the platform upwardly with a force applied to the platform in response to a decrease of a load on the platform. A support structure enables stable vertical positioning of the platform with respect to the base.

Abstract: A treadmill includes a frame; a rotatable element coupled to the frame; a running belt at least partially supported by the rotatable element; and, a first element and a second element, both of which are coupled to the running belt. The running belt includes a running surface, at least a portion of which is curved. Further, one of the first and second elements and the running belt freely rotate in a first direction of rotation relative to the frame. However, in a second direction of rotation, opposite the first direction of rotation, the one of the first and second elements is substantially prevented from rotation relative to the frame to substantially prevent or resist rotation of the running belt relative to the frame.

Abstract: A treadmill including a frame, a suspension connector connected to the frame, and a flexible deck connected to the suspension connector. The flexible deck is configured to flex in response to a load applied by a user striding on the treadmill. The suspension connector includes a suspension pivot that allows rotation of the flexible deck around the suspension pivot.

Abstract: Methods and system to partially support the weight of a human user engaged in task performance at ground level are presented herein. An upper body support system includes multiple degrees of freedom to adapt the physical geometry of the support system to meet the demands of the task at hand. Each degree of freedom of the upper body support system is passively controlled by the human user from a convenient user interface. In some embodiments, each end-effector of the support system is positioned and fixed in three degrees of freedom over a relatively large workspace by manually controlling the brake torque of two rotational joints and the state of a locking mechanism of a linear joint. In another aspect, an end-effector is removeably attached to the support system with a quick-change coupler. In some embodiments, a swivel joint mechanism compensates for misalignment with the work environment.