Patent Document ID: 8540652
Application ID: 11802267
Patent Flag: 1

Claim One:
1. A robotic system for multiple joint training using one training module, comprising a control tower having at least one locking mechanism; a measuring unit configured to measure bio-electrical signals of a user; a controller configured to determine an assistive torque (T a ) and a resistive torque (T r ) based on the measured bio-electrical signals, and calculate a net torque (T n ) based on the difference of T a and T r (T n =T a −T r ), and T a and T r are calculated by the following equations: 
 T a =G·T IMVE ·M t , 
 T r =a·T MVC , and M t = EMG MUS - EMG mrest EMG tIMVE - EMG mrest ; wherein G is a constant gain used to adjust a magnitude of the assistive torque, T IMVE is a maximum torque applied in an extension phase, T MVC includes a maximum torque applied in a flexion phase (T IMVF ) and the T IMVE ; a rotational motor tower, said motor tower having a motor configured to deliver the net torque (T n ); and a multi-orientational module positioned on said rotational motor tower for contacting a user's limb, wherein said locking mechanism is positioned on a handle for locking, said rotational motor tower in a position between total horizontal to total vertical, and said multi-orientational module is selected from the group consisting of a lower extremity module and an upper extremity module.