Robotic training system with multi-orientation module

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 (Ta) and a resistive torque (Tr) based on the measured bio-electrical signals, and calculate a net torque (Tn) based on the difference of Ta and Tr (Tn=Ta−Tr), and Ta and Tr are calculated by the following equations:
• Ta=G·TIMVE·Mt,
• Tr=a·TMVC, 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, TIMVE is a maximum torque applied in an extension phase, TMVC includes a maximum torque applied in a flexion phase (TIMVF) and the TIMVE;
• a rotational motor tower, said motor tower having a motor configured to deliver the net torque (Tn);
• 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.