Anatomical shoulder range of motion device

A shoulder range of motion machine comprising:

• a stationary base frame;
• a shoulder-manipulation mechanism including:
• a movable base frame at least pivotably supported on the stationary base frame for at least pivoting motion with respect to the stationary base frame about a main vertical axis;
• a horizontal linear actuator having a proximal portion and a distal portion, the proximal portion secured to the stationary base frame, and the distal portion attached to the movable base frame and configured to drive the movable base frame in at least pivoting motion with respect to the stationary base frame about the main vertical axis;
• a vertical support mounted on the movable base frame and extending vertically with respect thereto;
• an arm-carrier support at least pivotably mounted on the vertical support for at least pivoting motion with respect to the vertical support about a main horizontal axis;
• an arm-carrier-angle linear actuator having a lower end portion and an upper portion, the lower end portion secured to the vertical support, and the upper portion attached to the arm-carrier support and configured to drive the arm-carrier support in at least pivoting motion with respect to the vertical support about the main horizontal axis;
• and
• an arm carrier mounted on the arm-carrier support;
• and
• a controller operatively connected to at least one of the horizontal linear actuator or the arm-carrier-angle linear actuator to control extension and contraction thereof,
• the shoulder-manipulation mechanism further comprising:
• an upper geared hinge at least pivotably connecting the arm-carrier support to the vertical support the upper geared hinge including:
• a main shaft non-rotatably attached to the vertical support;
• a first sun gear non-rotatably attached to the main shaft;
• a carrier body rotatably attached to the main shaft;
• a planet shaft rotatably mounted with respect to the carrier body;
• and
• a first planet gear non-rotatably mounted with respect to the planet shaft to rotate together with the planet shaft;
• wherein the first sun gear and the first planet gear mesh and cooperate to be
• drivingly connected to provide a first phase of movement of the arm-carrier support with respect to the vertical support,
• wherein the upper geared hinge further comprises:
• a second sun gear non-rotatably attached to the main shaft;
• and
• a second planet gear non-rotatably mounted with respect to the planet shaft to rotate together with the planet shaft;
• wherein the first sun gear and the first planet gear mesh and cooperate to be drivingly connected to provide a first phase of movement of the arm-carrier support with respect to the vertical support, and
• wherein the second sun gear and the second planet gear mesh and cooperate to be drivingly connected to provide a second phase of movement of the arm-carrier support with respect to the vertical support.