Patent ID: 7252644

Claim:
A method for measuring, treating, and self-rehabilitating an individual having a neurological condition, the method comprising: i) providing a system comprising mechanical means, at least one computer, display means, and interconnecting means, the mechanical means further comprising an interacting instrumented member that interacts with the body or a part thereof of the individual, a force sensor, a force generator, at least one moveable non-compliant linkage, and a base, the force sensor further being attachedly connected by the linkage to the force generator, the linkage having at least three degrees of freedom, the computer further comprising an interactive software program, and the base supporting at least one of the above; ii) securing a body or part thereof of the individual to the interacting instrumented member; iii) permitting the individual to move the body or part thereof to a desired position; iv) sensing the force required to move the body or part thereof using the force sensor; v) producing force input data using the sensed force; vi) transmitting the force input data from the force sensor to the computer; vii) processing the force input data using the interactive software program; viii) transmitting the processed data to the display means whereby the display shows a virtual environment; ix) processing the data to produce force output data; x) transmitting the force output data to the force generator and the linkage thereby generating a force upon the interacting instrumented member and the body or part thereof, the resulting generated force upon the body or part thereof causing the muscles and nerves in the body or part thereof to be stimulated, the stimulation resulting in regaining muscle coactivation patterns and associated joint torques patterns for the individual; thereby measuring, treating, and self-rehabilitating the individual.