Patent ID: 8181519

Claim:
A system for resistance-based evaluation and training of a muscular force of a bi-articular link mechanism of a trainee, said system comprising a robot arm which comprises: a first link having opposite ends respectively connectable to a first joint and a second joint; and a second link having one end connectable to the second joint and another end corresponding to a distal end of the bi-articular link mechanism, the bi-articular link mechanism including a set of antagonistic mono-articular muscles about the first joint and another set of antagonistic mono-articular muscles about the second joint, both sets of muscles producing an exercise movement in a plane including the first and second joints and the distal end of the link mechanism, and a set of antagonistic bi-articular muscles astride the first and second joints, said robot arm having a distal end secured to the distal end of the link mechanism, the distal end of said robot arm exhibiting elasticity variable with direction; the elasticity being variable to follow a change associated with an angular change of the first and second joints in a force exerted at the distal end of the link mechanism by the set of antagonistic mono-articular muscles and the set of antagonistic bi-articular muscles, the variable elasticity being used to indicate the trainee of a direction in which he or she is to exert the force at the distal end of the link mechanism.