%0 Journal Article %A Matjacic, Zlatko %A Cikajlo, Imre %A Oblak, Jakob %T Universal Haptic drive system (PCT) %D 2008 %X A universal haptic drive system for arm and wrist rehabilitation is described comprising a hand accessory and a vertical handle for carrying the hand accessory, the vertical handle being movable in a transversal plane. It furthermore comprises a haptic actuator system for applying a force to the vertical handle. The vertical handle comprises a universal joint with locking ability. When the universal joint is unlocked, it enables movements for wrist rehabilitation, and when it is locked it causes a stiff substantially vertical handle enabling movements for arm rehabilitation. %K Universal haptic drive system %K Arm and wrist rehabilitation %U http://hdl.handle.net/11556/28 %~ GOEDOC, SUB GOETTINGEN