Patent ID: 8206267

Claim:
A controllable, selectively-movable, multiple degree-of-freedom, mechatronic ankle and balance trainer device that is releasable attachable to a user's foot, the device comprising: a first haptic interface portion that is structured and arranged to rotate about a posterior-anterior axis for providing data on at least one of inversion and eversion rotation of the foot; a second haptic interface portion that is structured and arranged to rotate about a lateral-medial axis that is orthogonal or substantially orthogonal to the posterior-anterior axis for providing data on at least one of plantarflexion and dorsiflexion rotation of the foot; a first damping or actuating device that is structured and arranged to generate at least one of passive resistance and active force to control rotation about the posterior-anterior axis; a second damping or actuating device that is structured and arranged to generate at least one of passive resistance and active force to control rotation about the lateral-medial axis; at least one pressure sensing device for measuring force applied to the first haptic interface portion by the foot; a sensing device for detecting rotation about the posterior-anterior axis and for generating inversion/eversion rotation data signals; a sensing device for detecting rotation about the lateral-medial axis and for generating plantarflexion/dorsiflexion rotation data signals; and a controller that is structured and arranged to receive data signals from the sensing devices and to control the at least one of passive resistance and active force of the first and second damping devices.