Systems, devices, and methods are provided for therapeutic loading of a joint, such as a knee joint. Generally, a wearable device is provided, comprising a first subassembly comprising a first motor configured to apply a predetermined force to a joint through an adjustable connecting element； a second subassembly comprising an adjustable cuff coupled to the adjustable connecting element and an appendage adjacent to the joint； and a second motor configured to cause the joint to articulate according to a predetermined range of motion at a predetermined velocity. The wearable device may further comprise a controller unit configured to control the predetermined force, predetermined range of motion, and predetermined velocity.
