THERAPY AND MOBILITY ASSISTANCE SYSTEM

1 . A therapy and mobility assistance system used by a patient comprising:

a leg device worn on the leg of the patient operable in a mobility assistance mode when the patient is in an ambulatory state that provides at least one of assistance and resistance to enhance the mobility of the leg of the patient, and a therapy mode that facilitates therapeutic extension and flexion of at least one of the joints of the leg of the patient when the patient is undergoing a therapy;

a therapy shuttle that facilitates therapeutic extension and flexion of at least one of the joints of the leg of the patient; and

an appendage fastener that selectively couples the therapy shuttle and the leg device in an engaged position in which the leg device is attached to the therapy shuttle and a disengaged position in which the leg device is detached from the therapy shuttle.

2 . The system of claim 1 , wherein in the engaged position the appendage fastener allows pivotal movement between the therapy shuttle and leg device.

3 . The system of claim 1 , wherein the therapy shuttle reduces internal rotation and external rotation of the leg of the patient.

4 . The system of claim 1 , wherein the therapy shuttle is wider than the leg device.

5 . The system of claim 1 , wherein the therapy shuttle includes at least one side wall adjacent to the leg device.

6 . The system of claim 1 , wherein at least a portion of the therapy shuttle is adapted to be mounted above the patient.

7 . The system of claim 1 the appendage fastener further comprising: a latch that locks onto the leg device when the appendage fastener is in the engaged position.

8 . The system of claim 7 the leg device further comprising: a protrusion positioned to engage the latch.

9 . The system of claim 7 the leg device further comprising: an opening positioned to engage the latch.

10 . The system of claim 1 , wherein when the appendage fastener is in the disengaged position, the leg device operates in the mobility assistance mode independent of the therapy shuttle.

11 . The system of claim 1 , wherein when the appendage fastener is in the engaged position and the leg device is operated in the therapy mode, the therapy shuttle moves to accommodate the therapeutic extension and flexion of at least one of the joints of the leg of the patient.

12 . The system of claim 1 , further comprising: a guide track that constrains motion of the therapy shuttle along a path.

13 . The system of claim 12 , wherein the guide track and the therapy shuttle cooperate to reduce friction during the therapeutic extension and flexion of at least one of the joints of the leg of the patient.

14 . The system of claim 13 , wherein the guide track includes a linear bearing.

15 . The system of claim 12 , wherein the guide track is adapted to be placed on a surface.

16 . The system of claim 15 , wherein the guide track is generally flat and parallel to the surface.

17 . The system of claim 15 , wherein the guide track is curved.

18 . The system of claim 12 , wherein the guide track is adapted to be mounted above the patient.

19 . The system of claim 12 , wherein the guide track limits the range of motion of the therapy shuttle.

20 . The system of claim 1 , wherein the leg device includes an actuator system that includes:

a drive shaft that provides rotational output;

a first motor subsystem having a first output shaft and a first transmission connecting the first output shaft to the drive shaft;

a second motor subsystem having a second output shaft and a second transmission coupling the second output shaft to the drive shaft; and

a coupling from the drive shaft to apply force to flex or extend the leg.

21 . A therapy and mobility assistance system used by a patient, comprising:

a leg device worn on the leg of the patient that provides motion control of the leg of the patient in a mobility assistance mode and a therapy mode;

a therapy shuttle that facilitates therapeutic extension and flexion of at least one of the joints of the leg of the patient; and

an appendage fastener movable between an engaged position and a disengaged position, wherein the appendage fastener in the engaged position couples the therapy shuttle to the leg device enabling the therapy shuttle to move to accommodate the therapeutic extension and flexion of at least one of the joints of the leg of the patient; and wherein the appendage fastener in the disengaged position decouples the therapy shuttle from the leg device enabling the leg device to operate in the mobility assistance mode independent of the therapy shuttle.

22 . The system of claim 21 , further comprising a guide track that constrains motion of the therapy shuttle along a path.

23 . The system of claim 21 , wherein the leg device includes an actuator system that includes:

a drive shaft that provides rotational output;

a first motor subsystem having a first output shaft and a first transmission connecting the first output shaft to the drive shaft; and

a second motor subsystem having a second output shaft and a second transmission coupling the second output shaft to the drive shaft.

24 . A method of providing therapy and mobility assistance to a patient, comprising the steps of:

fastening onto a leg of the patient a leg device that provides motion control of the leg of the patient in a mobility assistance mode and a therapy mode;

selectively coupling the leg device to a therapy shuttle;

performing therapeutic extension and flexion of at least one of the joints of the leg of the patient using the therapy shuttle with the leg device in a therapy mode;

uncoupling the leg device from the therapy shuttle; and

operating the leg device in a mobility assistance mode after the uncoupling step.