A method for exercising a joint and a limb of a patient. The method includes supporting the limb at an angle with an actuation arm of an exercise device. The actuation arm is rotatable about a rotation axis and includes a first portion and a second portion. The second portion is movable in a direction perpendicular to the rotation axis. The method further includes restricting movement of the second portion of the actuation arm and a foot plate at a distal end of the second portion in the direction perpendicular to the rotation axis unless force exerted on the foot plate by the patient exceeds a predetermined force as measured by a foot plate load cell.
