| 摘要 |
A six degree of freedom limb movement resistance system is described in whic h a linkage system (200) of links (338-356) and joints (300-334) couples a fixed point in space to a movable endpoint (E ) of the linkage (200). A limb coupling cuff (212, 376) is attached to the end point (E). Variable resistance force can be applied t o the linkage (200) via computer controls (104, 106) through a feedback path from position and velocity sensors (206), The linkag e endpoint force acting to resist limb motion is in a direction opposite to the endpoint velocity vector.
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