Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training

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dc.contributor.authorPerry, Joel C.
dc.contributor.authorOblak, Jakob
dc.contributor.authorJung, Je H.
dc.contributor.authorCikajlo, Imre
dc.contributor.authorVeneman, Jan F.
dc.contributor.authorGoljar, Nika
dc.contributor.authorBizovičar, Nataša
dc.contributor.authorMatjačić, Zlatko
dc.contributor.authorKeller, Thierry
dc.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionMedical Technologies
dc.date.accessioned2024-07-24T12:15:28Z
dc.date.available2024-07-24T12:15:28Z
dc.date.issued2011
dc.description.abstractNumerous haptic devices have been developed for upper-limb neurorehabilitation, but their widespread use has been largely impeded because of complexity and cost. Here, we describe a variable structure pantograph mechanism combined with a spring suspension system that produces a versatile rehabilitation robot, called Universal Haptic Pantograph, for movement training of the shoulder, elbow, and wrist. The variable structure is a 5-degree-of-freedom (DOF) mechanism composed of 7 joints, 11 joint axes, and 3 configurable joint locks that reduce the number of system DOFs to between 0 and 3. The resulting device has eight operational modes: Arm, Wrist, ISO (isometric) 1, ISO 2, Reach, Lift 1, Lift 2, and Steer. The combination of available work spaces (reachable areas) shows a high suitability for movement training of most upper-limb activities of daily living. The mechanism, driven by series elastic actuators, performs similarly in all operational modes, with a single control scheme and set of gains. Thus, a single device with minimal setup changes can be used to treat a variety of upper-limb impairments that commonly afflict veterans with stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multimode haptic device significantly reduces the costs of robotic hardware for full-arm rehabilitation while performing similarly to that of single-mode haptic devices. We conducted case studies with three patients with stroke who underwent clinical training using the developed mechanism in Arm, Wrist, and/or Reach operational modes. We assessed outcomes using Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores showing that upper-limb ability improved significantly following training sessions.en
dc.description.statusPeer reviewed
dc.format.extent18
dc.identifier.citationPerry , J C , Oblak , J , Jung , J H , Cikajlo , I , Veneman , J F , Goljar , N , Bizovičar , N , Matjačić , Z & Keller , T 2011 , ' Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training ' , Journal of Rehabilitation Research and Development , vol. 48 , no. 4 , pp. 317-334 . https://doi.org/10.1682/JRRD.2010.03.0043
dc.identifier.doi10.1682/JRRD.2010.03.0043
dc.identifier.issn0748-7711
dc.identifier.urihttps://hdl.handle.net/11556/4579
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=79957809636&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofJournal of Rehabilitation Research and Development
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsArm therapy
dc.subject.keywordsHaptic device
dc.subject.keywordsHaptic training
dc.subject.keywordsPanto-graph mechanism
dc.subject.keywordsRehabilitation
dc.subject.keywordsRehabilitation robotics
dc.subject.keywordsSeries elastic actuation
dc.subject.keywordsStroke
dc.subject.keywordsStroke therapy
dc.subject.keywordsUpper limb
dc.subject.keywordsWrist therapy
dc.subject.keywordsRehabilitation
dc.subject.keywordsSDG 3 - Good Health and Well-being
dc.subject.keywordsSDG 7 - Affordable and Clean Energy
dc.subject.keywordsSDG 12 - Responsible Consumption and Production
dc.titleVariable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement trainingen
dc.typejournal article
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