Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 1 of 11
200 ATHLETE ID Badge + profile + session history 202 PROTOCOL ENGINE Pattern select Force target F_set 204 PID FORCE CONTROLLER e(t) = F_set − F_meas u(t) = PID[e(t)] → motor PWM 100 Hz update 206 CABLE DRIVE BLDC + gearbox + spool + cable + slip clutch F_meas (load cell, 100 Hz) 208 SUBJECT On platform Limb stretched 212 DATA ENGINE 9 variables / rep Longitudinal trends Asymmetry alerts Risk score (62) observes 210 VISION SYSTEM Skeleton + joint angles + compensation detect COMPENSATION SIGNAL → modifies F_set [NOVEL] 214 — ADAPTIVE FEEDBACK: historical data modifies next session's protocol
FIG. 1
System Block Diagram
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 2 of 11
BLDC 20:1 LOAD θ E 10 14 16 18 20 22 24 12 26
FIG. 2
Apparatus Side-Elevation Schematic
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 3 of 11
ID / BADGE 100 BASELINE LEFT 102 BASELINE RIGHT 104 ASYMMETRY |L − R| 106 STRETCH PROTOCOL 108 LOG SESSION 110 TREND / FEEDBACK 112 longitudinal feedback loop
FIG. 3
Method of Bilateral Longitudinal Assessment
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 4 of 11
FOC DRIVE 30 BLDC 200W 10 20:1 GEAR 12 SLIP CLUTCH 36 14 32 34 LOAD 16 38 CUFF 18 τ* set-point measured force feedback (100 Hz)
FIG. 4
Cable Drive Assembly Detail
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 5 of 11
LOAD CELL 16 24-bit ADC 100Hz 40 DEPTH CAM D435 30fps 20 VISION SKELETON 42 MOTOR ENC 4,000 CPR 44 DRUM ENC post-clutch 46 sEMG (opt.) 1 kHz 48 TIME-SYNC DATA BUS 1 ms precision MEASUREMENT PIPELINE (FIG. 8)
FIG. 5
Sensor Array and Data Paths
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 6 of 11
CONTROL PROCESSOR (a) real-time control @100Hz (b) vision / sensor fusion @30Hz (c) session + UI layer 50 TOUCHSCREEN subject + operator UI 22 SENSOR BUS (FIG. 5) DATA STORE AES-256 encrypted 52 NETWORK I/F TLS 1.3 REST/GraphQL 54 FOC CONTROLLER (30) τ* set-point
FIG. 6
Control and User Interface Architecture
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 7 of 11
L1   Software force ceiling — 100Hz, <10ms response software L2   PID compliance on compensation / force spike — <50ms software L3   Slip clutch (36) — mechanical release at 120% Fmax mechanical L4   E-stop (24) — hardwired NC contactor, cuts motor power electrical L5   Manual quick-release (38) — single-hand, <1s disengage mechanical Five independent layers — failure of one does not compromise the rest.
FIG. 7
Five-Layer Safety Cascade
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 8 of 11
FORCE (16) ANGLE θ (20) ENC (44,46) sEMG (48) SENSOR FUSION time-aligned 60 VARIABLES V1–V9 V1 — ROM @ ref force V2 — end-range stiffness V3 — bilateral asymmetry V4 — yielding rate V5 — compensation index V6 — co-activation (sEMG) V7 — session trend V8 — asym. persistence V9 — adherence RISK ENGINE R 62 report & session log
FIG. 8
Measurement Extraction Pipeline
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 9 of 11
26 platform frame 200 (linear track for P2) P1 fixed P2 202 slides & locks V1 path (4 patterns) V2 path (3 patterns) V1: hamstring, adductor, (supine / seated on frame 26) hip-flexor, ankle (4) V2: shoulder capsular, thoracic rotation, seated spinal ext. (3)
FIG. 9
Multi-Pattern Reconfigurable Platform Geometry
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 10 of 11
Ftarget prescribed c[k] compensation − adaptive F* ∑ e[k] PID Kp=2.4 Ki=0.8 Kd=0.15 µ anti-windup FOC / Motor τ → Fm (30, 10) Load Cell (16) 100Hz Fm[k] measured feedback u[k] torque set-point τ*
FIG. 10
Closed-Loop Force-Compliance Controller
Inventor: Mitchell Lisa — VITR-001-PROV
Sheet 11 of 11
DEPTH CAMERA skeleton (42) @30fps DISPLACEMENT dcomp(t): pelvis, hip, lumbar 220 sEMG (opt.) co-activation V6 SIGNAL GENERATOR c(t) = √∑ wi (di−di,0)² LPF 5 Hz, dead-band c0 222 FORCE REDUCTION g(c) → F* dead-band + saturating 224 to adaptive set-point of FIG. 10
FIG. 11
Vision-Based Compensation Detection and Force Reduction