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

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dc.contributor.authorOblak, Jakob
dc.contributor.authorPerry, Joel C.
dc.contributor.authorJung, Je H.
dc.contributor.authorCikajlo, Imre
dc.contributor.authorKeller, Thierry
dc.contributor.authorMatjačić, Zlatko
dc.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionMedical Technologies
dc.date.accessioned2024-07-24T11:55:06Z
dc.date.available2024-07-24T11:55:06Z
dc.date.issued2010
dc.description.abstractNumerous 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.en
dc.description.statusPeer reviewed
dc.format.extent4
dc.identifier.citationOblak , 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
dc.identifier.citationconference
dc.identifier.doi10.1109/IEMBS.2010.5627515
dc.identifier.isbn9781424441235
dc.identifier.urihttps://hdl.handle.net/11556/2477
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=78650840066&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartof2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
dc.relation.ispartofseries2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsBiomedical Engineering
dc.subject.keywordsComputer Vision and Pattern Recognition
dc.subject.keywordsSignal Processing
dc.subject.keywordsHealth Informatics
dc.subject.keywordsSDG 3 - Good Health and Well-being
dc.titleA variable structure pantograph mechanism for comprehensive upper extremity haptic movement trainingen
dc.typeconference output
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