The present teachings provide for an exercise device for exercising a jointand a limb. The device includes a controller, an actuation member, a loadcell,and a motor. The actuation member is controlled by the controller and isconfigured to extend and flex the limb. The load cell is mounted to theactuationmember and configured to measure force between the limb and the actuationmember. The motor is configured to control movement of the actuation memberin response to inputs from the controller.
