Apparatus for manipulating joints of a limb

An apparatus for manipulating joints of a limb of a patient, wherein the limb comprises a plurality of limb segments, a limb segment of the plurality of limb segments connects to at least one joint, the apparatus comprising:

• at least one motor module removably coupled to a supporting structure configured on the limb, wherein a motor module of the at least one motor module comprises a plurality of motor drives;
• a manipulating exoskeleton assembly comprising a plurality of exoskeleton segments, wherein an exoskeleton segment of the plurality of exoskeleton segments is removably secured on the limb segment;
• and
• a plurality of actuating members operatively connected to each motor module of the at least one motor module, an actuating member of the plurality of actuating members having a first end operatively connected to a motor drive of a motor module of the at least one motor module and a second end removably coupled to an exoskeleton segment of the plurality of exoskeleton segments,
• whereby upon driving each actuating member of the plurality of actuating members by a motor drive operatively connected to the each actuating member push and pull forces are transmitted to a limb segment associated with the each actuating member for moving each of the plurality of limb segments thereby independently manipulating the joints of the limb.