A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training

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URI: https://hdl.handle.net/11556/2477
ISBN: 9781424441235
DOI: 10.1109/IEMBS.2010.5627515
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2010
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Abstract
Numerous haptic devices have been developed for neurorehabilitation of upper extremities, but their wide-spread use has been largely impeded for reasons of complexity and cost. In this paper we describe a variable structure pantograph mechanism that produces a versatile rehabilitation robot for movement training of the shoulder, elbow, and wrist. The device has three operational modes: ARM, REACH and WRIST. The performance of the mechanism, driven by series elastic actuators, is similar in all three operational modes while using a single control scheme and set of gains. This means a single device with minimal setup changes can be used to treat a variety of upper limb impairments following stroke, traumatic brain injury, or other direct trauma to the arm.
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Biomedical Engineering , Computer Vision and Pattern Recognition , Signal Processing , Health Informatics , SDG 3 - Good Health and Well-being
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Oblak , J , Perry , J C , Jung , J H , Cikajlo , I , Keller , T & Matjačić , Z 2010 , A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training . in 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 . , 5627515 , 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 , pp. 5859-5862 , 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 , Buenos Aires , Argentina , 31/08/10 . https://doi.org/10.1109/IEMBS.2010.5627515
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