Computerized exercise apparatus

A method of providing training or recovery to a user comprising:

• providing an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at at least a subset of the joints;
• receiving from the sensors positional data of the links or joints over an initial movement of the apparatus by the user;
• calculating positional coordinates of the user interface member from the sensed positional data over the initial movement, establishing a reference trajectory;
• defining an end space based on the reference trajectory;
• receiving from the sensors positional data of the links over a subsequent movement of the apparatus by the user;
• calculating positional coordinates of the user interface member from the sensed positional data over the subsequent movement;
• and
• determining a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.

A non-transitory computer readable medium with an executable program stored thereon, wherein the program instructs a processing device to perform the following steps:

• receive from sensors positional data of a plurality of links and joints of an apparatus over an initial movement of the apparatus by the user, the apparatus including a user interface member coupled to the plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at the joints;
• calculate positional coordinates of the user interface member from the sensed positional data over the initial movement, establishing a reference trajectory;
• define an end space based on the reference trajectory;
• receive from the sensors positional data of the links over a subsequent movement of the apparatus by the user;
• calculate positional coordinates of the user interface member from the sensed positional data over the subsequent movement;
• and
• determine a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.

A method of performing a physical assessment comprising:

• providing an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at the joints;
• establishing an initial resistance level of the brakes;
• prompting a user to perform a number of repetitions of a movement over a desired trajectory with the exercise apparatus at the initial resistance level;
• comparing performance metrics for each repetition based on sensed movement of the joints during the repetition, the performance metrics including positional data and velocity data of the repetition;
• detecting a change in user performance among the number of repetitions.

A method of performing a physical assessment comprising:

• providing an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and sensors capable of sensing movement at at least a subset of the joints;
• establishing resistance levels of the brakes for a series of movements in a performance index, each movement pertaining to at least one component in a kinetic chain of a functional movement;
• prompting a user to perform a number of repetitions of each of the series of movements;
• and
• comparing performance metrics for each repetition based on sensed movement of the joints during the repetition, the performance metrics including positional data and velocity data of the repetition.

A training or recovery system comprising:

• an exercise apparatus including a user interface member coupled to a plurality of links and joints, brakes capable of resisting movement of at least a subset of the links or joints, and at least one sensor capable of sensing movement of the user interface member;
• and
• a processor configured to:
• receive from at least one sensor positional data of the user interface member over an initial movement of the apparatus by a user;
• calculate positional coordinates of the user interface member in a three-dimensional space from the sensed positional data over the initial movement, establishing a reference trajectory;
• define an end space based on the reference trajectory;
• receive from the sensors positional data of the links over a subsequent movement of the apparatus by the user;
• calculate positional coordinates of the user interface member from the sensed positional data over the subsequent movement;
• and
• determine a completion of a repetition based on the positional coordinates of the subsequent movement and the defined end space.