Mechanism for manipulating and measuring legs during stepping

Abstract From the Canadian patent

A backdriveable device for manipulating and measuring limb movement and a , method of use thereof. The device comprises a plurality of forcers at least , one linear guide for constraining the forcers to reciprocate along respective linear trajectories, and a linkage for attachment to a limb of a user the , linkage rotatably connected between the forcers and including two bars rotatably connected together at a vertex. Movement of the forcers along their linear trajectories results in movement of the vertex along a spatial trajectory. In specific embodiments, the forcers are moving coils of a linear motor. The movement and forces applied by the coils can be controlled through a computer …