Patent ID: 8622939
Filing Date: 2014-01-07
Classification: A61H

Abstract:
1. An apparatus for manipulating joints of a limb of a patient, the apparatus comprising: at least one motor module removably coupled to a supporting structure configured for use on the limb, wherein a motor module of the at least one motor module comprises a plurality of motor drives; a manipulating exoskeleton assembly comprising a plurality of exoskeleton segments, whereby an exoskeleton segment of the plurality of exoskeleton segments is configured to be removably secured on a limb segment; a plurality of actuating members operatively connected to each motor module of the at least one motor module, an actuating member of the plurality of actuating members having a first end operatively connected to a motor drive of a motor module of the at least one motor module and a second end removably coupled to an exoskeleton segment of the plurality of exoskeleton segments, whereby upon driving each actuating member of the plurality of actuating members by a motor drive operatively connected to each actuating member push and pull forces are transmitted to a limb segment associated with each actuating member for moving each of the plurality of limb segments thereby independently manipulating the joints of the limb; and a parallel manipulator having a first end attached to the supporting structure and a second end attached to a grounding component configured for attaching to a portion of the limb, the grounding component housing a motor module of the at least one motor module, wherein the parallel manipulator facilitates multiple degrees of freedom of movement with respect to the supporting structure.