ABNORMALITIES

TECHNICAL FIELD

[0001] The present disclosure generally relates to robotic rehabilitation devices, particularly to robotic rehabilitation devices for neuromuscular disorders. More particularly, the present disclosure relates to a diagnostic/therapeutic robotic rehabilitation device that may be utilized in diagnosis and treatment of neuromuscular disorders.

BACKGROUND

[0002] The deficits in rehabilitation robots led to the development of a robotic system with an approach of quantifying neuromuscular abnormalities and separating their neural (reflexive) and muscular (non-reflexive) components. Due to the great clinical need for these systems to make an appropriate diagnosis and selection of therapeutic procedures for neurological patients, particular focus on this system is emphasized. Neuromuscular lesion separation is described as the dynamic measurement of joint stiffness by fitting appropriate and accurate models to each of the reflex and non-reflex components of the joint dynamic stiffness.

[0003] In previous studies, the purpose of designing rehabilitation robots was mainly to determine the static stiffness of the joint and its biomechanical characteristics, such as range of motion and maximum voluntary contraction. However, in practice, due to the unknown speed limit of reflex stimulation for different subjects as well as the limitation of applying a constant speed at the beginning and end of the range of motion (especially for high speeds and smaller range of motion), this method is restricted in identifying reflex and non-reflex components of dynamic joint stiffness and its underlying mechanisms subsequent to neuromuscular lesions.

[0004] In order to calculate the dynamics of the joint’s mechanical properties and determine the mechanism of its reflex and non-reflex components, it is necessary to use robots capable of creating movements with various speeds and switching rates (different types of inputs, including perturbation and random noise, etc.) in order to stimulate mechanisms related to neuromuscular and motor lesions. These inputs are applied to the joints to model various types of neuromuscular systems using parametric models and system identification approaches, especially during movement, which may be used to accurately diagnose neuromuscular and motor lesions. SUMMARY

[0005] This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description and the drawings.

[0006] According to one or more exemplary embodiments, the present disclosure is directed to an exemplary rehabilitation device for diagnosis/treatment of neuromuscular abnormalities. An exemplary rehabilitation device may include a joint manipulation assembly. An exemplary joint manipulation assembly may include a limb interface that may be configured to secure a limb. An exemplary limb may be rotatable with an exemplary limb interface at a limb joint about a joint axis. An exemplary joint manipulation assembly may further include a servomotor that may be coupled to an exemplary limb interface. An exemplary servomotor may be configured to drive a rotational motion of an exemplary limb interface about a first rotational axis. An exemplary first rotational axis may be aligned with an exemplary joint axis. An exemplary joint manipulation assembly may further include a torquemeter that may be mounted between an exemplary servomotor and an exemplary limb interface. An exemplary torquemeter may be configured to measure an amount of reaction torque of an exemplary joint. [0007] An exemplary rehabilitation device may further include an ergonomic adjustment mechanism that may be coupled to an exemplary joint manipulation assembly. An exemplary adjustment mechanism may be configured to adjust position and orientation of an exemplary joint manipulation assembly. An exemplary ergonomic adjustment mechanism may include a vertical adjustment mechanism that may be configured to adjust a position of an exemplary joint manipulation mechanism along a translational axis, and a rotational adjustment mechanism that may be configured to adjust an orientation of an exemplary joint manipulation mechanism about a second rotational axis. An exemplary first rotational axis, an exemplary second rotational axis, and an exemplary translational axis may be mutually perpendicular.

[0008] An exemplary rehabilitation device may further include a processing unit that may be coupled to an exemplary motor and an exemplary torquemeter. An exemplary processing unit may include at least one processor and at least one memory that may be coupled to the at least one processor. The at least one memory may be configured to store a plurality of motion protocols. An exemplary processing unit may further include an input/output (I/O) interface that may be coupled to the at least one processor and the at least one memory. An exemplary I/O interface may be configured to allow a user chose a motion protocol from the plurality of motion protocols stored on the at least one memory. The at least one memory may further be configured to store executable instructions to urge the at least one processor to receive a motion protocol from an exemplary I/O interface and urge an exemplary servomotor to drive a rotational motion of an exemplary joint interface based at least in part on the received motion protocol.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is expressly understood, however, that the drawings are for illustration and description only and are not intended as a definition of the limits of the present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings in which:

[0011] FIG. 1A illustrates a front perspective view of a rehabilitation device, consistent with one or more exemplary embodiments of the present disclosure;

[0012] FIG. IB illustrates a rear perspective view of a rehabilitation device, consistent with one or more exemplary embodiments of the present disclosure;

[0013] FIG. 1C illustrates an exploded rear perspective view of a rehabilitation device, consistent with one or more exemplary embodiments of the present disclosure;

[0014] FIG. 2 illustrates an exploded view of a rotational actuation mechanism, consistent with one or more exemplary embodiments of the present disclosure;

[0015] FIG. 3 illustrates an exploded view of a vertical column, consistent with one or more exemplary embodiments of the present disclosure;

[0016] FIG. 4 illustrates a sliding plate and a coupling mechanism associated therewith, consistent with one or more exemplary embodiments of the present disclosure;

[0017] FIG. 5 illustrates a block diagram of a rehabilitation system, consistent with one or more exemplary embodiments of the present disclosure; [0018] FIG. 6A illustrates a trapezoidal stretch signal, consistent with one or more exemplary embodiments of the present disclosure;

[0019] FIG. 6B illustrates a pulse stretch signal, consistent with one or more exemplary embodiments of the present disclosure;

[0020] FIG. 6C illustrates a PRB stretch signal, consistent with one or more exemplary embodiments of the present disclosure;

[0021] FIG. 7 illustrates an exploded view of an ankle interface, consistent with one or more exemplary embodiments of the present disclosure;

[0022] FIG. 8 illustrates an exploded view of a finger interface, consistent with one or more exemplary embodiments of the present disclosure;

[0023] FIG. 9 illustrates an exploded view of a thumb interface, consistent with one or more exemplary embodiments of the present disclosure; and

[0024] FIG. 10 illustrates an exploded view of a wrist interface, consistent with one or more exemplary embodiments of the present disclosure.

DETAILED DESCRIPTION

[0025] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following discussion.

[0026] The present disclosure is directed to exemplary embodiments of a rehabilitation device for neuromuscular disorders, which may be capable of producing a variety of motion protocols, such as motion protocols based on constant speed stretching signals, pulse stretch signals, Pseudo-Random Binary (PRB) stretch signals, and Position Velocity Time (PVT) stretch signals. Such exemplary rehabilitation device may be utilized in numerous therapeutic exercises, such as the treatment of reflex problems and passive tissue disorders of elbow, wrist, fingers, knee, and ankle joints. An exemplary rehabilitation device may be capable of mechanically applying a wide range of stimuli, such as stretching movements and various motor inputs that may include perturbations and random noise inputs on an exemplary joint of an exemplary patient. The present disclosure is further directed to a rehabilitation robot that may be capable of applying a variety of low-amplitude perturbations on a joint with adjustable high velocities and switching rates as an input excitation and accurately record the reaction torque of an exemplary joint at a high sample frequency as an output to calculate dynamic joint stiffness.

[0027] An exemplary rehabilitation device for patients with neuromuscular disorders may include a limb support or interface, which may allow coupling or fixing an exemplary limb of an exemplary patient to an exemplary rehabilitation device. An exemplary rehabilitation device may further include a rotational actuation mechanism with a servomotor for applying a wide range of motion protocols on an exemplary joint or limb that may be coupled to an exemplary rehabilitation device by utilizing an exemplary limb interface. As used herein, a motion protocol may refer to a motion pattern based on which an exemplary servomotor of an exemplary rehabilitation device may rotate an exemplary joint of an exemplary patient. An exemplary rehabilitation device may further include a torque sensor, a motor encoder, and a plurality of electromyographic (EMG) sensors to respectively measure torque, force, motor status, and EMG data during the application of a specific motion protocol on an exemplary joint of an exemplary patient. Specifically, an exemplary torque sensor or torquemeter may be utilized to measure the reaction torque of an exemplary joint in response to an exemplary joint being urged by an exemplary servomotor to rotate and to measure mechanical force, or power, transmitted by an exemplary servomotor, an encoder may be utilized for measuring position and speed of an exemplary rotating shaft of an exemplary servomotor.

[0028] An exemplary rehabilitation device may further include a processing unit that may be configured to urge an exemplary servomotor of an exemplary rehabilitation device to apply a wide range of motion protocols and record and display measured data. Specifically, an exemplary processing unit may urge an exemplary servomotor to move an exemplary joint based on a predefined motion protocol, which may either be set by a user or selected from among a plurality of motion protocols store in an exemplary processing unit of an exemplary rehabilitation device. As mentioned before, motion protocols may include protocols such as constant speed stretching protocol based on which processing unit may urge an exemplary servomotor to rotate an exemplary joint at a constant speed in either a clockwise direction or a counterclockwise direction in a predetermined rotational range. During such constant speed rotational motion, an exemplary torquemeter may constantly measure reaction torque of an exemplary joint, which may be recorded along with speed and position data in an exemplary processing unit. An exemplary motion protocol may include a pulse signal, based on which an exemplary processing unit may urge an exemplary servomotor to apply a plurality of pulses on an exemplary joint. Such pulse may include quick rotational movement with small ranges of rotational motion repeated for a predetermined number of times. For example, a pulse may include a rotational movement with a range of 3 degrees that may be applied at a period of 3 seconds and a pulse width of 40 ms. An exemplary motion protocol may include a sequence of periodic rotational movements applied as a pseudo-random binary sequence or an exemplary motion protocol may include position velocity time signals. Such application of exemplary motion protocols and then recording the reaction of an exemplary joint to the applied motion protocols may both have therapeutic purposes and diagnostic functions. In other words, an exemplary rehabilitation device may be utilized for treating neuromuscular complications, as well as for assessing the spasticity of an exemplary patient, studying parameters related to neuromuscular disorders, and evaluating improvement procedure of spastic joints and limbs for new therapeutic interventions.

[0029] An exemplary rehabilitation device may further include an ergonomic adjustment mechanism, on which an exemplary rotational actuating mechanism of an exemplary rehabilitation robot may be mounted. An exemplary ergonomic adjustment mechanism may be configured to provide two degrees of freedom for an exemplary rotational actuating mechanism that may be utilized to adjust the position and orientation of an exemplary rotational actuating mechanism. Exemplary degrees of freedom that may be provided by utilizing an exemplary ergonomic adjustment mechanism may include a translational degree of freedom that may be utilized for adjusting a height of an exemplary rotational actuating mechanism and a rotational degree of freedom about an axis perpendicular to a rotational axis of an exemplary rotational actuating mechanism to adjust an orientation of an exemplary rotational actuating mechanism. [0030] FIG. 1A illustrates a front perspective view of a rehabilitation device 100, consistent with one or more exemplary embodiments of the present disclosure. FIG. IB illustrates a rear perspective view of rehabilitation device 100, consistent with one or more exemplary embodiments of the present disclosure. FIG. 1C illustrates an exploded rear perspective view of rehabilitation device 100, consistent with one or more exemplary embodiments of the present disclosure.

[0031] In an exemplary embodiment, rehabilitation device 100 may include a joint manipulation mechanism 102 that may be coupled to an ergonomic adjustment mechanism 104. In an exemplary embodiment, ergonomic adjustment mechanism 104 may be utilized for providing support for joint manipulation mechanism 102 and may further be utilized for adjusting position and orientation of joint manipulation mechanism 102. In an exemplary embodiment, joint manipulation mechanism 102 may be coupled to a limb of a patient and may be configured to apply perturbations to respective joints of an exemplary limb of an exemplary patient. As used herein, perturbations may refer to motion protocols applied by utilizing joint manipulation mechanism 102 on an exemplary joint of an exemplary patient.

[0032] In an exemplary embodiment, joint manipulation mechanism 102 may include a rotational actuation mechanism 106 and a limb interface 108 that may be rotatably coupled to rotational actuation mechanism 106. In an exemplary embodiment, rotational actuation mechanism 106 may drive a rotational motion of the limb interface about a first rotational axis 110. In an exemplary embodiment, joint manipulation mechanism 102 may be configured to apply perturbations to any of exemplary joints of an exemplary patient, such as elbow, wrist or ankle. Consequently, limb interface 108 may be configured to couple upper or lower limbs of a patient to rotational actuation mechanism 106 of joint manipulation mechanism 102. For example, limb interface 108 may be a wrist interface that may receive and couple a hand of a patient to rotational actuation mechanism 106 of joint manipulation mechanism 102. In an exemplary embodiment, limb interface 108 may transfer rotational motion of rotational actuation mechanism 106 to an exemplary joint of an exemplary upper or lower limb of an exemplary patient.

[0033] FIG. 2 illustrates an exploded view of a rotational actuation mechanism 200, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, rotational actuation mechanism 200 may be structurally similar to rotational actuation mechanism 106. In an exemplary embodiment, rotational actuation mechanism 200 may include a servomotor 202 that may be rotatably coupled to servomotor 202. In an exemplary embodiment, servomotor 202 may drive a rotational motion of servomotor 202 about first rotational axis 110. In an exemplary embodiment, first rotational axis 110 may include a longitudinal axis of servomotor 202. In an exemplary embodiment, servomotor 202 may be coupled to a torquemeter 206 by utilizing a mechanical adapter 208. Specifically, mechanical adapter 208 may include a first flange 210 that may be coupled to servomotor 202 and an opposing second flange 212 that may be coupled to torquemeter 206. In an exemplary embodiment, first flange 210 and second flange 212 may be opposite each other along first rotational axis 110. In an exemplary embodiment, torquemeter 206 may further be coupled to a limb interface, which will be discussed later. In an exemplary embodiment, such coupling of servomotor 202 and torquemeter 206 to a limb interface may allow for transferring the rotational motion of servomotor 202 to limb interface ??? and further measuring the reaction torque of an exemplary joint engaged with rotational actuation mechanism 200 by utilizing limb interface ???. In other words, torquemeter 206 may be configured to measure the reaction torque of an exemplary joint in response to the motion produced by utilizing rotational actuation mechanism 200.

[0034] In an exemplary embodiment, rotational actuation mechanism 200 may further include a rotational limiting mechanism 214 that may be utilized to limit the rotational range of motion of servomotor 202 about first rotational axis 110. In an exemplary embodiment, rotational limiting mechanism 214 may include a stationary ring 216 that may be mounted on a frame 218 of servomotor 202 and a stop 220 that may be mounted on and rotatable with first mechanical adapter 208. In an exemplary embodiment, stop 220 may include a protruded tongue 222 that may extend radially outward beyond an outer periphery of mechanical adapter 208. In an exemplary embodiment, stationary ring 216 may include a plurality of perforations arranged in a circular formation around stationary ring 216 that may be adapted to receive two stopping pins. For example, stationary ring 216 may include 24 perforations equally spaced apart by 15° around stationary ring 216.

[0035] In practice, the position of the aforementioned stopping pins on stationary ring 216 may determine the rotational range of servomotor 202. For example, by placing two stopping pins within two respective perforations of stationary ring 216 that are 45° apart, the rotational range of motion of servomotor 202 about first rotational axis 110 may be limited to 45°. In other words, in response to stop 220 engaging with either one of the two stopping pins on stationary ring 216, rotational motion of servomotor 202 may be stopped. In an exemplary embodiment, the position of the two stopping pins on stationary ring 216 may be determined base at least in part on an exemplary patient's maximum range of motion to prevent any unwanted damage to a patient. The two stopping pins may limit the rotational motion of servomotor 202 in both clockwise and counterclockwise directions.

[0036] Referring to FIGs. 1A to 1C, in an exemplary embodiment, ergonomic adjustment mechanism 104 may include a vertical adjustment mechanism 112 that may be utilized for adjusting a position of joint manipulation mechanism 102 along a translational axis 116 and a rotational adjustment mechanism 114 that may be utilized for adjusting an orientation of joint manipulation mechanism 102 about a second rotational axis 118. In other words, ergonomic adjustment mechanism 104 may be configured to provide joint manipulation mechanism 102 with a translational degree of freedom along translational axis 116 and a rotational degree of freedom about second rotational axis 118. In an exemplary embodiment, ergonomic adjustment mechanism 104 may further be utilized to provide a rigid support for joint manipulation mechanism 102 on a support surface 120. To this end, in an exemplary embodiment, ergonomic adjustment mechanism 104 may be rigidly and fixedly attached to support surface 120 by fastening mechanisms such as bolts and flanges.

[0037] In an exemplary embodiment, vertical adjustment mechanism 112 may include a base plate 122 that may be positioned on support surface 120, two parallel columns (124a, 1246) that may extend vertically from respective lateral sides of base plate 122, a pair of leadscrew mechanisms (126a, 126/?) that may be vertically mounted within respective parallel columns (124a, 1246), guide rails (128a, 1286) mounted on parallel columns (124a, 1246), a pair of sliding plates (130a, 130Z>) that may be slidably coupled to respective parallel columns (124a, 1246), and a base actuation mechanism 132 that may be coupled to respective leadscrew mechanisms (126a, 1266). In an exemplary embodiment, joint manipulating mechanism 102 may be positioned between parallel columns (124a, 1246) and may be coupled to parallel columns (124a, 1246) at both sides by utilizing sliding plates (130a, 1306). In an exemplary embodiment, vertical adjustment mechanism 112 may move joint manipulating mechanism 102 up and down along translational axis 116. Such vertical displacement of joint manipulating mechanism 102 may allow for easily adapting the height of joint manipulating mechanism 102 to upper or lower body joints of an exemplary patient. For example, when rehabilitation device 100 is to be used for manipulating knee or ankle, vertical adjustment mechanism 112 may move joint manipulating mechanism 102 down along translational axis 116 to position joint manipulating mechanism 102 at a suitable height. Here, a suitable height may refer to a height at which an exemplary limb of a patient may easily be coupled to limb interface 108. In another example, when rehabilitation device 100 is to be used for manipulating elbow or wrist, vertical adjustment mechanism 112 may move joint manipulating mechanism 102 up along translational axis 116 to position joint manipulating mechanism 102 at a suitable height adjacent elbow, wrist, fingers, knee, or ankle of a patient.

[0038] FIG. 3 illustrates an exploded view of a vertical column 300, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, vertical column may be structurally similar to parallel columns (124a, 1246). In an exemplary embodiment, vertical column 300 may include a lower flange 302 to allow for attaching vertical column 300 to a base plate such as base plate 122. In an exemplary embodiment, vertical column may further include a leadscrew mechanism 304 disposed within vertical column 300 and accessible through a slit 306 on vertical column 300. In an exemplary embodiment, vertical column may further include two laterally spaced apart guide rails 308 that may be attached on vertical column 300 along a longitudinal axis of vertical column 300. In an exemplary embodiment, leadscrew mechanism 304 may include a leadscrew 310 and a lead nut 312 that may be mounted on leadscrew 310. In an exemplary embodiment, lead nut 312 may assume a translational motion along longitudinal axis 318 of vertical column 300 in response to a rotational motion of leadscrew 310. In an exemplary embodiment, leadscrew 310 may be coupled to vertical column 300 form a first end of leadscrew 310 by utilizing a bearing 316 and leadscrew 310 may further be coupled to a rotary actuator (not illustrated) from an opposing second end of leadscrew 310 by utilizing a coupling member, such as a two-way right angle gearbox 314.

[0039] In an exemplary embodiment, base actuation mechanism 132 may be coupled to respective leadscrew mechanisms (126a, 1266). To this end, in an exemplary embodiment, base actuation mechanism 132 may include a rotary actuator such as an electric motor that may be coupled to a shaft 134 that may be extended parallel with second rotational axis 118. In an exemplary embodiment, a first end of shaft 134 may be coupled to leadscrew mechanism 126a by utilizing a first two-way right angle gearbox 136a and a second end of shaft 134 may be coupled to leadscrew mechanism 1266 by utilizing a second two-way right angle gearbox 1366. Specifically, first two-way right angle gearbox 136a may be coupled between the first end of shaft 134 and a respective two-way right angle gear box of each leadscrew mechanism (126a, 1266). In an exemplary embodiment, respective two-way right angle gear box of each leadscrew mechanism (126a, 1266) may be structurally similar to two-way right angle gearbox 314. In an exemplary embodiment, such coupling of base actuation mechanism 132 to respective leadscrew mechanisms (126a, 1266) may allow for actuating leadscrew mechanisms (126a, 1266) by utilizing a single rotary actuator, such as base actuation mechanism 132. In other words, leadscrew mechanisms (126a, 1266) may transform a rotational motion of base actuation mechanism 132 to translational motions along translational axis 116.

[0040] FIG. 4 illustrates a sliding plate 400 and coupling mechanism associated therewith, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, sliding plate 400 may include two pairs of wagons (402a, 402/?) mounted on sliding plate 400, where each pair of wagons may correspond to a respective guide rail of an exemplary pair of guide rails on an exemplary vertical column. For example, each pair of wagons of two pairs of wagons (402a, 402/? ) may be mounted on a respective guide rail of two laterally spaced apart guide rails 308. In an exemplary embodiment, such coupling between two pairs of wagons (402a, 402/;) and two laterally spaced apart guide rails 308 may allow for slidably coupling sliding plate 400 with a respective vertical column, such as vertical column 300. Consequently, sliding plate 400 may be slidable up and down along translational axis 116. [0041] In an exemplary embodiment, sliding plate 400 may further include an L- shaped coupling member 404 that may be attached to sliding plate 400 from one end and may be coupled from an opposing end to a respective lead nut of a respective leadscrew mechanism within a respective vertical column. For example, L-shaped coupling member 404 may be coupled to lead nut 312 of leadscrew mechanism 304 within vertical column 300. To this end, in an exemplary embodiment, the opposing end of L-shaped coupling member 404 may pass through slit 306 and may be coupled to lead nut 312. For example, the opposing end of L- shaped coupling member 404 may include a receiving hole 406 that may receive lead nut 312 within receiving hole 406 and thereby coupling L-shaped coupling member 404 to lead nut 312. In an exemplary embodiment, such coupling of sliding plate 400 to a respective leadscrew mechanism such as leadscrew mechanism 304 may allow for actuating a sliding motion of sliding plate 400 up and down along translational axis 116 by utilizing leadscrew mechanism 304.

[0042] In an exemplary embodiment, sliding plate 400 may further include an elongated hollow shaft 408 attached to sliding plate 400, where elongated hollow shaft 408 may be extended along a normal axis 410 of sliding plate 400. In an exemplary embodiment, elongated hollow shaft 408 may be fitted with a first bearing 411 to a middle shaft 412 to allow middle shaft 412 to be rotatable within elongated hollow shaft 408 about second rotational axis 118, which may be parallel and aligned with normal axis 410 of sliding plate 400. In an exemplary embodiment, middle shaft 412 may further be rotatably coupled to joint manipulation mechanism 102 by utilizing a second bearing 414.

[0043] In an exemplary embodiment, each sliding plate of pair of sliding plates (130a, 130/?) may be structurally similar to sliding plate 400. In an exemplary embodiment, first sliding plate 130a may include a first plurality of sliding wagons 138a structurally similar to two pairs of wagons (402a, 4026) that may be slidably coupled to first guide rails 128a of first vertical column 124a. In an exemplary embodiment, first sliding plate 130a may further include a first L- shaped coupling member 140a that may be structurally similar to L- shaped coupling member 404 and may be utilized for further coupling first sliding plate 130a to a first leadscrew mechanism 126a. Similarly, second sliding plate 130/; may include a second plurality of sliding wagons 1386 structurally similar to two pairs of wagons (402a, 4026) that may be slidably coupled to second guide rails 1286 of second vertical column 1246. In an exemplary embodiment, second sliding plate 1306 may further include a second L- shaped coupling member 1406 that may be structurally similar to L-shaped coupling member 404 and may be utilized for further coupling second sliding plate 1306 to a second leadscrew mechanism 1266. In an exemplary embodiment, a rotational motion of base actuation mechanism 132 may be transformed into a translational motion along translational axis 116 by utilizing first leadscrew mechanism 126a and such translational motion may further be transferred by first leadscrew mechanism 126a to first sliding plate 130a. Similarly, a rotational motion of base actuation mechanism 132 may be transformed into a translational motion along translational axis 116 by utilizing second leadscrew mechanism 1266 and such translational motion may further be transferred by second leadscrew mechanism 1266 to second sliding plate 1306.

[0044] In an exemplary embodiment, first sliding plate 130a may further include a first elongated hollow shaft 142a similar to elongated hollow shaft 408 that may be attached to first sliding plate 130a along second rotational axis 118. In an exemplary embodiment, a first middle shaft 144a structurally similar to middle shaft 412 may be rotatably coupled to first elongated shaft 142a from a first end and may further be coupled to joint manipulating mechanism 102 form an opposing second end. Similarly, second sliding plate 1306 may further include a second elongated hollow shaft 1426 similar to elongated hollow shaft 408 that may be attached to second sliding plate 1306 along second rotational axis 118. In an exemplary embodiment, a second middle shaft 1446 structurally similar to middle shaft 412 may be rotatably coupled to second elongated shaft 1426 from a first end and may further be coupled to joint manipulating mechanism 102 form an opposing second end. In an exemplary embodiment, such coupling of first sliding plate 130a and second sliding plate 1306 to respective opposing sides of joint manipulating mechanism 102 may allow for joint manipulating mechanism 102 to be movable with first sliding plate 130a and second sliding plate 1306 along translational axis 116 and may further allow for joint manipulating mechanism 102 to be rotatable about second rotational axis 118 relative to first sliding plate 130a and second sliding plate 130/?.

[0045] In an exemplary embodiment, rotational adjustment mechanism 114 may include an electric motor 146 that may be coupled to joint manipulating mechanism 102. To this end, electric motor 146 may be coupled to a gear-and-pinion mechanism (150, 152) via a gearbox 148, where gear 152 may be coupled to and rotatable with joint manipulating mechanism 102 and pinion 150 may be coupled to and rotatable with electric motor 146 through gearbox 148. In an exemplary embodiment, second middle shaft 1446 may be attached to and rotatable with gear 152 by utilizing a flange connector 154. In an exemplary embodiment, pinion 150 may mesh with gear 152 and may transfer rotational movement of electric motor 146 to gear 152 and in turn to joint manipulating mechanism 102.

[0046] In an exemplary embodiment, rotational adjustment mechanism 114 may further include a magnetic brake 156 that may be coupled to an opposing side of joint manipulating mechanism 102 from one side and to first middle shaft 144a from the other side. In an exemplary embodiment, magnetic brake 156 may be utilized between of joint manipulating mechanism 102 and first middle shaft 144a to prevent motor vibrations. In an exemplary embodiment, such coupling of joint manipulating mechanism 102 to second middle shaft 1446 and electric motor 146 from one side and to first middle shaft 144a and magnetic brake 156 from the opposing side may allow for joint manipulating mechanism 102 to assume a more stable rotational movement between and relative to parallel columns (124a, 1246) upon actuation by utilizing electric motor 146.

[0047] FIG. 5 illustrates a block diagram of a rehabilitation system 500, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, rehabilitation system 500 may be functionally similar to rehabilitation device 100. In an exemplary embodiment, rehabilitation system 500 may include a processing unit 502, a joint manipulation system 503 including a servomotor 504 that may functionally be connected to processing unit 502 by utilizing a servomotor driver 506, a sensor assembly 508 that may be coupled to servomotor 504, and an I/O interface 510 that may be connected in signal and data communication with processing unit 502. In an exemplary embodiment, rehabilitation system 500 may further include a vertical adjustment mechanism 528 and a rotational adjustment mechanism 530 that may be coupled to configured to provide joint manipulation system 503 with two degrees of freedom. In an exemplary embodiment, vertical adjustment mechanism 528 may be configured to adjust a height of joint manipulation system 503 relative to a support surface on which rehabilitation system may be mounted and rotational adjustment mechanism 530 may be configured to adjust an orientation of joint manipulation system 503 about an axis perpendicular to a rotational axis of servomotor 504.

[0048] FIG. 7 illustrates an exploded view of an ankle interface 700, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, limb interface 520 may include an ankle interface that may be structurally similar to ankle interface 700. In an exemplary embodiment, ankle interface 700 may include In an exemplary embodiment, ankle interface 700 may include a base plate 702 that may be rotatably coupled to a torquemeter structurally similar to torquemeter 206 to allow for a servomotor similar to servomotor 202 to drive a rotational motion of base plate 702 about first rotational axis 110. In an exemplary embodiment, ankle interface 700 may further include an adjustable plate 704 that may be extended parallel to base plate 702 and may be removably attached to base plate 702. In an exemplary embodiment, a vertical position of adjustable plate 704 with respect to base plate 702 may be adjusted by moving adjustable plate 704 along a vertical axis 706 perpendicular to first rotational axis 110 in a direction shown by arrow 707. To this end, in an exemplary embodiment, adjustable plate 704 may be coupled to base plate 702 by utilizing a plurality of lock screws disposed within corresponding pluralities of slots on base plate 702. Such coupling of adjustable plate 704 to base plate 702 may allow for adjusting the vertical position of adjustable plate 704 along vertical axis 706 relative to base plate 702 and then by utilizing plurality of lock screws to lock adjustable plate 704 relative to base plate 702 at an adjusted position.

[0049] In an exemplary embodiment, ankle interface 700 may further include a horizontal base plate 708 that may be moveably coupled to adjustable plate 704. In an exemplary embodiment, horizontal base plate 708 may be perpendicular to adjustable plate 704 and may be moveable with adjustable plate 704 along vertical axis 706 in a direction shown by arrow 707.

[0050] In an exemplary embodiment, ankle interface 700 may further include a footrest 710, a top foot brace 712 and a back foot brace 714. In an exemplary embodiment, top foot brace 712 and back foot brace 714 may conform to a general shape of an exemplary foot of an exemplary patient and may be utilized for fixing an exemplary foot of an exemplary patient on footrest 710. [0051] In an exemplary embodiment, footrest 710 may be extended parallel with horizontal base plate 708 and may be slidably coupled on top of horizontal base plate 708. In an exemplary embodiment, footrest 710 may be moveable on top of horizontal base plate 708 along a horizontal axis 716 mutually perpendicular to vertical axis 706 and first rotational axis 110. In an exemplary embodiment, footrest 710 may be moveable along horizontal axis 716 in a direction shown by arrow 718. In an exemplary embodiment, position of footrest 710 on top of horizontal base plate 708 may be fixed by a couple of lock screws fastened within corresponding slits below horizontal base plate 708. Such adjustability along vertical axis 706, horizontal axis 716 and rotational axis 306 may allow a care giver to adjust the position of an ankle of a patient within ankle interface 700 such that a rotational axis of an exemplary ankle of an exemplary patient may be aligned with first rotational axis 110.

[0052] FIG. 8 illustrates an exploded view of a finger interface 800, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, limb interface 520 may include a finger interface that may be structurally similar to finger interface 800. In an exemplary embodiment, finger interface 800 may include a cylindrical body with four receiving holes 802 that may be arranged on a front face 804 of finger interface 800. In an exemplary embodiment, finger interface 800 may be screwed to a torquemeter similar to torquemeter 206 form an opposing face 806 of finger interface 800. In an exemplary embodiment, receiving holes 802 may be configured to receive four fingers inside receiving holes 802. In an exemplary embodiment, finger interface 800 may be utilized for coupling four fingers of a patient except for the thumb with a servomotor similar to servomotor 202.

[0053] FIG. 9 illustrates an exploded view of a thumb interface 900, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, limb interface 520 may include a thumb interface that may be structurally similar to thumb interface 900. In an exemplary embodiment, thumb interface 900 may include a main cylindrical body 902 that may be bolted to a torquemeter similar to torquemeter 206 and may be rotatable with servomotor 202 about first rotational axis 110. In an exemplary embodiment, thumb interface 900 may include handle 904 that may be a protrusion extending out of front face 906 of thumb interface 900. In an exemplary embodiment, handle 904 may be configured to be grabbed by a patient. Here, a patient may hold handle 904 by their thumb and index finger.

[0054] FIG. 10 illustrates an exploded view of a wrist interface 1000, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, limb interface 520 may include a wrist interface that may be structurally similar to wrist interface 1000. In an exemplary embodiment, wrist interface 1000 may include a fork 1002 that may be bolted to a torquemeter such as torquemeter 206. In an exemplary embodiment, wrist interface 1000 may further include a grab handle 1004 that may be configured to be held by a hand of a patient. In an exemplary embodiment, grab handle 1004 may be attached to fork 1002 and may be rotatable with fork 1002. In response to a user holding onto grab handle 1004, an axis of rotation of a wrist of an exemplary patient may be aligned with first rotational axis 110.

[0055] In an exemplary embodiment, processing unit 502 may include at least one memory 512 and at least one processor 514 that may be coupled to at least one memory 512. In an exemplary embodiment, processing unit 502 may further include an I/O interface driver 516 and an analogue to digital (A/D) converter 518. In an exemplary embodiment, sensor assembly 508 may further be coupled to processing unit 502 via A/D converter 518. In an exemplary embodiment, elements of rehabilitation system 500 may be coupled to each other via a wired, wireless or a combination of wired and wireless network, which is represented by connecting solid lines in FIG. 5. For simplicity, some routine elements, such as power supplies, touch screen interfaces, buttons, switches, electronic jumpers, wires and/or connectors are omitted. In an exemplary embodiment, various elements of processing unit 502 may be directly connected to other elements of rehabilitation system 500 or may be indirectly connected to other elements via an internal network of wired, wireless or a combination of wired and wireless network, illustrated by solid interconnecting lines in FIG. 5. In an exemplary embodiment, various elements of processing unit 502 may be indirectly connected to other elements via an external network (not illustrated).

[0056] In an exemplary embodiment, at least one memory 512 may be a computer-readable medium or a volatile memory unit or a non-volatile memory unit. In an exemplary embodiment, at least one memory 512 may include a hard disk, a floppy disk, a tape device, a flash memory data storage device, a thumb drive, a solid-state memory (SSD), a read-only memory (ROM), or an optical disk device, or any other similar memory devices or storage devices.

[0057] In an exemplary embodiment, at least one memory 512 may be configured to store software, codes or other forms of executable instructions that may be retrieved by at least one processor 514 or other components of processing unit 502 to enable them to perform various functions. In an exemplary embodiment, each of the various components of processing unit 502, such as at least one processor 514 may include internal storages to store their software instructions or codes to enable them to perform various functions without requiring at least one memory 512.

[0058] In an exemplary embodiment, I/O interface 510 may include touchscreens, buttons, switches, keypads, or potentiometers to let a user, such as a caregiver interact with processing unit 502 to initiate, continue or stop desired functions, or to input, alter, or delete data. In an exemplary embodiment, I/O interface 510 may be used to turn on or off rehabilitation system 500. In an exemplary embodiment, I/O interface 510 may be connected to processing unit 502 by utilizing an I/O interface driver 516. In an exemplary embodiment, I/O interface 510 may further be configured to receive data from a user, where the data may include a motion protocol. As used herein, a motion protocol may refer to a set of parameters set by a user, where the parameters may include at least one of a range of motion, the maximum speed and acceleration, a cycle time, and number of repetitions. In an exemplary embodiment, at least one memory 512 may be configured to store a plurality of preset motion protocols. In an exemplary embodiment, I/O interface 510 may further be configured to receive data from a user, where the data may include a motion protocol selected by a user from among the plurality of preset motion protocols stored on at least one memory 512. To this end, I/O interface 510 may further be configured to present the plurality of preset motion protocols to a user so that a user may select a preferred motion protocol from among the presented preset motion protocols.

[0059] In an exemplary embodiment, at least one memory 512 may further contain information and/or executable instruction to control the operation of the various components rehabilitation system 500. In an exemplary embodiment, at least one memory 512 may be configured to store executable instructions that may urge at least one processor 514 to receive a motion protocol from I/O interface 510, where the motion protocol may include either a plurality of parameters such as range of motion, the maximum speed and acceleration, a cycle time, and number of repetitions set by a user by utilizing I/O interface 510 or preset parameters that may be stored on at least one memory 512 and may be chosen by a user by utilizing I/O interface 510. As used herein, range of motion may refer to a rotational range of motion for servomotor 504 about a rotational axis similar to first rotational axis 110, the maximum speed and acceleration may refer to the maximum speed and acceleration for the rotational motion of servomotor 504, a cycle time may refer to the duration of applying the perturbations to a target joint by stretching an exemplary target joint by utilizing servomotor 504, and the number of repetitions may refer to the number times stretching within the set range of motion may be repeated or in other words the number of times one specific perturbation may be applied to a target joint by utilizing servomotor 504.

[0060] In an exemplary embodiment, I/O interface 510 may include a graphical user interface (GUI) that may be configured to allow a user to define a desired motion protocol by assigning values to a plurality of parameters. In an exemplary embodiment, the plurality of parameters received from a user as data input may define a signal based on which stretches may be applied to an exemplary limb of a patient by utilizing rehabilitation system 500. In an exemplary embodiment, the plurality of parameters may include but are not limited to velocity (°/s), number of stretches, range of motion (°), pause period between consecutive stretches (s), peak hold (s), and initial delay (s).

[0061] FIG. 6A illustrates a trapezoidal stretch signal 600, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, trapezoidal stretch signal 600 may be defined by an initial delay 602, a velocity value that may be equal to tangent of angle 604, peak hold 606, range 608, and pause period 610 between two consecutive signals. In an exemplary embodiment, trapezoidal stretch signal 600 is shown as the amount of displacement by which a joint stretching mechanism such as joint stretching mechanism 300 may urge a limb of a patient to move over time. In an exemplary embodiment, I/O interface 510 may be configured to allow a user to select a trapezoidal stretch signal from among a plurality of choices presented to a user by utilizing I/O interface 510. Then, I/O interface 510 may further be configured to receive data from a user to modify and customize the selected trapezoidal stretch signal. In an exemplary embodiment, the received data for defining a trapezoidal stretch signal may include a value for initial delay 602, a value for angular velocity (tangent of angle 604), a value for peak hold 606 which may correspond to the period during which a limb of a patient is held at the maximum amount of displacement, a value for range 608 which may correspond to the maximum amount of displacement, a value for number of stretches, and a value for pause period 610 which may correspond to the period between two consecutive trapezoidal stretch signals. In an exemplary embodiment, trapezoidal stretch signal 600 with a low angular velocity, such as 5 °/s and a high range such as 120° may be used for treatment of passive tissue damages.

[0062] FIG. 6B illustrates a pulse stretch signal 612, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, pulse stretch signal 612 may be defined by an initial delay 614, a pulse width 616, an amplitude 618, and a pulse period 620. In an exemplary embodiment, pulse stretch signal 612 is shown as the amount of displacement by which a joint stretching mechanism such as joint stretching mechanism 300 may urge a limb of a patient to move over time. In an exemplary embodiment, I/O interface 510 may be configured to allow a user to select a pulse stretch signal from among a plurality of choices presented to a user by utilizing I/O interface 510. Then, I/O interface 510 may further be configured to receive data from a user to modify and customize the selected pulse stretch signal. In an exemplary embodiment, the received data for defining a pulse stretch signal may include a value for an initial delay 614, a value for pulse width 616, a value for amplitude 618, a value for pulse period 620, and a value for number of stretches. In an exemplary embodiment, pulse stretch signal 612 with a low amplitude 618 and a low pulse width 616 may be utilized for spasticity assessment of joints. For example, pulse stretch signal 612 with an amplitude of 3° and a pulse width of 40 ms may be utilized for assessing joint parameters of ankle.

[0063] FIG. 6C illustrates a PRB stretch signal 622, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, pulse stretch signal 622 may be defined by an initial delay 624, duration (s), amplitude (°) 626, switching rate (ms) 628, velocity limit, max width (ms), min width (ms), and number of cycles. In an exemplary embodiment, PRB stretch signal 622 is shown as the amount of displacement by which a joint stretching mechanism such as joint stretching mechanism 300 may urge a limb of a patient to move over time. In an exemplary embodiment, RO interface 510 may be configured to allow a user to select a PRB stretch signal from among a plurality of choices presented to a user by utilizing I/O interface 510. Then, I/O interface 510 may further be configured to receive data from a user to modify and customize the selected PRB stretch signal. In an exemplary embodiment, the received data for defining a PRB stretch signal may include a value for initial delay 624, a value for duration (s), a value for amplitude (°) 626, a value for switching rate (ms) 628, a value for velocity limit, a value for max width (ms), a value for min width (ms), and a value for number of cycles. In an exemplary embodiment, a pulse width 630 may be the sum of minimum width and a random number multiplied by the difference between the minimum and maximum width, where the random number is less than 1. In an exemplary embodiment, PRB stretch signal 622 may be utilized for assessing and treatment of joint stiffness. For example, a PRB stretch signal with a switching rate of 175 ms, and a max width of 600 ms may be utilized for joint assessment, while a PRB stretch signal with a switching rate of 20 ms, and a max width of 200 ms may be utilized for joint treatment. [0064] In an exemplary embodiment, I/O interface 510 may be configured to allow for a user to input parameters of a signal, such as trapezoidal stretch signal 600, pulse stretch signal 612, and PRB stretch signal 622 into rehabilitation system 500. As used herein, defining these parameter is referred to as defining a motion protocol. In other words, I/O interface 510 may be configured to receive a motion protocol by allowing a user to input such parameters to define a stretch signal.

[0065] In an exemplary embodiment, at least one memory 512 may further be configured to store executable instructions that may further urge at least one processor 514 to urge servomotor 504 to assume a rotational motion based at least in part on the received motion protocol. In an exemplary embodiment, at least one processor 514 may be coupled to servomotor driver 506 via A/D converter 518. In an exemplary embodiment, at least one processor 514 may be configured to urge servomotor 504 to assume a rotational motion based at least in part on the received motion protocol by sending control signals to servomotor driver 506. In an exemplary embodiment, servomotor driver 506 may be configured to amplify and utilize the received control signal from at least one processor 514 to urge servomotor 504 to assume a rotational motion based at least in part on the received motion protocol. As used herein, servomotor 504 assuming a rotational motion may refer to servomotor 504 assuming a rotational motion.

[0066] In an exemplary embodiment, sensor assembly 508 may include an encoder 522 that may be coupled to servomotor 504 and may be configured to measure the position and speed of servomotor 504 at any given instance during performance of the received motion protocol. In an exemplary embodiment, encoder 522 may be coupled to servomotor driver 506 via A/D converter 518 and may be configured to send a feedback signal containing the measured position and speed of servomotor 504 at any given instance during performance of the received motion protocol to servomotor driver 506. Here, servomotor driver 506 may be configured to receive the measured position and speed of servomotor 504. In an exemplary embodiment, servomotor driver 506 may further be configured to modify and refine the control signals sent to servomotor 504 by executing predefined control loops based at least in part on the received feedback signal from encoder 522. In other words, servomotor driver 506 may be configured to correct any deviations from the reference signals received from processing unit 502 to allow for servomotor 504 to fully comply with the received motion protocol. In an exemplary embodiment, the signal generated by encoder 522 may further be sent to processing unit 502 via A/D converter 518, which may later be utilized for estimating or determining reflex stiffness dynamics, which will be discussed later in this disclosure.

[0067] In an exemplary embodiment, sensor assembly 508 may further include a torquemeter 524 that may be coupled between servomotor 504 and limb interface 520. In an exemplary embodiment, torquemeter 524 may be structurally similar to torquemeter 312 and may be coupled to limb interface 520 that may be structurally similar to one of limb interface 304, 400, and 420. In an exemplary embodiment, torquemeter 524 may be configured to generate a signal indicative of the reaction torque of a joint coupled to servomotor 504 by utilizing limb interface 520. Specifically, when an exemplary target joint is forced to be stretched based at least in part on the received motion protocol set by a caregiver, the reaction torque of an exemplary joint in response to the applied motion protocol may be measured by utilizing torquemeter 524. In an exemplary embodiment, the signal generated by torquemeter 524 may be sent to processing unit 502 via A/D converter 518. Here, A/D converter 518 may be configured to filter and then convert the received signal from torquemeter 524 into a digital signal which may later be stored along with the speed and position signals by processing unit 502.

[0068] In an exemplary embodiment, rehabilitation system 500 may further include an emergency stop mechanism 526 that may include an input device such as a push button that may allow for a patient to stop the motion protocol being applied by rehabilitation system 500 on a patient's target joint, whenever an exemplary patient may feel discomfort or pain. In an exemplary embodiment, emergency stop mechanism 526 may be configured to receive an input from an exemplary patient and send a safety signal to servomotor driver 506 in response to receiving the input to urge servomotor driver 506 to cut off power to servomotor 504. In an exemplary embodiment, such configuration of emergency stop mechanism 526 may allow for preventing any possible harm caused by the operation of rehabilitation system 500 to an exemplary joint of an exemplary patient.

[0069] In practice, rehabilitation system 500 may be utilized for rehabilitation of an exemplary joint of a patient with a neuromuscular disorder and further may be utilized for estimating spasticity for spastic joints of an exemplary patient with neuromuscular disorder. To this end, first, a user may couple a limb of an exemplary patient to limb interface 520. After coupling an exemplary limb of an exemplary patient to limb interface 520, an exemplary user may utilize a mechanical rotational limiting mechanism of servomotor 504 to limit the rotational range of servomotor 504 based at least in part on physical conditions of that particular patient and a safe range of motion for that particular patient's joint. For example, an exemplary user may utilize rotational limiting mechanism 214 to limit the rotational range of motion of servomotor 504 about first rotational axis 110. To this end, an exemplary user may place two stopping pins within the plurality of perforations of stationary ring 216 of rotational limiting mechanism 214, as was described. In an exemplary embodiment, such utilization of rotational limiting mechanism 214 may allow for preventing any potential damage to a patient's joint. As used herein, a safe range of motion for an exemplary patient's joint may refer to a rotational range at which an exemplary joint of a patient may be rotated without causing any damage to an exemplary joint, which may be measured by a clinician before fixing a patients joint within system 500. In addition, in an exemplary embodiment, VO interface 510 may be configured to receive a range of motion from a user and at least one memory 512 may be configured to store executable instructions that may urge at least one processor 514 to constantly compare the position of servomotor 504 with the received range of motion, and in response to the position of servomotor 504 exceeding the receive range of motion send a control signal to servomotor driver 506 to stop servomotor 504. Such configuration of processing unit 502 to constantly check maximum allowable range of motion may provide yet another safety measure for rehabilitation system 500.

[0070] In an exemplary embodiment, after limiting the rotational range of motion of the shaft of servomotor 504, a user may then utilize VO interface 510 to set or select a motion protocol based at least in part on the type of treatment, diagnosis, or study that is to be performed on a joint of a patient. In an exemplary embodiment, setting or selecting a motion protocol may include determining the type of signal including at least one of PRBS, constant speed stretch, pulse, etc. For example, I/O interface 510 may include a touch screen that may be configured to allow a user to set the parameters of a motion protocol that is to be performed by servomotor 504 of limb interface 520. In another example, I/O interface 510 may include a touch screen that may be configured to present to a user, a plurality of preset motion protocols stored on at least one memory 512 so that a user may select a particular preset motion control. After that, at least one processor 514 may urge servomotor driver 506 to send control signals to servomotor 504 to start rotating based on the received motion protocol set or selected by an exemplary user. Here, limb interface 520 may transfer the rotational motion of servomotor 504 to an exemplary joint of an exemplary patient. [0071] In an exemplary embodiment, while performing the motion protocol on an exemplary joint of an exemplary user as was described in the previous paragraph, torquemeter 524 may be configured to measure a reaction torque of an exemplary joint at any given instant during the test. As mentioned before, encoder 522 may further be configured to measure the position and velocity of servomotor 504 at any given instant during the test. Here, sensor assembly 508 which consists of torquemeter 524 and encoder 522 may be configured to transmit position- velocity-torque data of any given moment during the test to processing unit 502, where the transmitted position-velocity-torque data may be stored on at least one memory 512 after being converted into digital signals by utilizing A/D converter 518. In an exemplary embodiment, the stored position-velocity-torque data on at least one memory 512 may later be utilized for obtaining the dynamic joint stiffness of an exemplary joint of an exemplary patient. As used herein, the dynamic joint stiffness may refer to the dynamic relationship between the position of an exemplary joint at a given moment and the resulting reaction torque at that given moment. [0072] In an exemplary embodiment, at least one memory may further include executable instructions that may urge at least one processor to receive position-velocity-torque data and obtain the dynamic joint stiffness of an exemplary joint of an exemplary patient based at least in part on the received position-velocity-torque data.

[0073] The embodiments have been described above with the aid of functional building blocks illustrating the implementation of specified functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternate boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed.

[0074] The foregoing description of the specific embodiments will so fully reveal the general nature of the disclosure that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present disclosure. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance. [0075] The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the following claims and their equivalents.

[0076] Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not to the exclusion of any other integer or step or group of integers or steps.

[0077] Moreover, the word "substantially" when used with an adjective or adverb is intended to enhance the scope of the particular characteristic, e.g., substantially planar is intended to mean planar, nearly planar and/or exhibiting characteristics associated with a planar element.

Further use of relative terms such as “vertical”, “horizontal”, “up”, “down”, and “side-to-side” are used in a relative sense to the normal orientation of the apparatus.