| 摘要 |
<p>A six degree of freedom limb movement resistance system is described in which a linkage system (200) of links (338-366) 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 to the linkage (200) via computer controls (104, 106) through a feedback path from position and velocity sensors (206). The linkage endpoint force acting to resist limb motion is in a direction opposite to the endpoint velocity vector.</p> |
