Method, apparatus, and system for teleoperated, motorized rehabilitative cycling

A method for rehabilitation comprising:

• receiving, at a master system, rotational input generating master system sensor input having a master system cadence;
• providing the master system sensor input including the master system cadence to a controller based on the rotational input from a rehabilitation participant or a remote therapist received at the master system;
• receiving, at a slave system, rotational input from a rehabilitation participant generating slave system sensor input having a slave system cadence;
• providing the slave system sensor input including the slave system cadence to the controller based on the rotational input from the rehabilitation participant received at the slave system;
• providing, from the controller, feedback through the master system in response to a difference between the master system cadence and the slave system cadence, wherein rotation of the master system and rotation of the slave system are not mechanically coupled;
• and
• controlling the slave system with a motor of the slave system based on the master system cadence.

A system for rehabilitation comprising:

• a master system driven by a master system operator's volitional efforts, wherein the master system includes at least one of a hand-cycle system or a leg-cycle system;
• a slave system driven by a participant's functional electric stimulation actuated muscle effort and a motor, wherein the slave system includes at least one of a hand-cycle system or a leg-cycle system;
• and
• a controller for receiving sensor input from the slave system and to control driving of the slave system by the motor responsive to sensor input from the master system.