US Patent 10039682 Methods and apparatus for rehabilitation and training

A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient's limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, in which a same movement mechanism is used at two different places of rehabilitation.