The present teachings provide for an exercise device (610) for exercising a joint and a limb. The device (610) includes an actuator (730), a foot plate (664), a foot plate load cell (636), and a restrictor (670). The actuation member (630) is rotatable about a rotation axis (X). The actuation member (630) includes a first portion (632) and a second portion (634) that is movable in a direction perpendicular to the rotation axis (X). The foot plate (664) is at a distal end of the second portion (634) of the actuation member (630). The foot plate load cell (636) is mounted to the foot plate (664) and is configured to measure force exerted on the foot plate (664). The restrictor (670) is configured to restrict movement of the second portion (634) of the actuation member (630) and the foot plate (664) at the distal end thereof in the direction perpendicular to the rotation axis (X) unless force exerted on the foot plate (664) exceeds a predetermined force.
