Joint rehabilitation device and method

The present invention is related to a device for exercise rehabilitation and evaluation of a joint of the arm or the leg comprising at least: - a portable hand-holdable housing, - a controllable resistance means with a rotable output shaft extending out of the housing, - tool means mounted to said output shaft being gripable by or attached to the user while the rotation of the outpout shaft, - embedded control means for controlling the supply of current to said resistance means, - characterised in that it further comprises precision sensing means for producing a signal corresponding to the angular position of the output shaft, - precision sensing means for producing a velocity signal corresponding to the angular velocity of the output shaft, - precision sensing means for producing of force signal corresponding to the torque applied by the user on said output shaft , and - data acquisition means in order to acquire or record data being the signals measured by the sensing means and, - high precision mechanical positioning means.