A system that can monitor motion and establish haptic feedback to promote rehabilitation and/or strength training is provided. The innovation can be applied at any point along a rehabilitative progression continuum to provide computer-regulated (e.g., virtual, remote) training and/or coaching. For example, the innovation can be employed to actively drive a limb, provide force feedback to promote wellness, passively monitor motion of a limb or even to establish resistance to encourage strength training. The modular components of the system promote adaptability to users of all shapes and sizes.