RT Conference Proceedings
T1 A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training
A1 Oblak, Jakob
A1 Perry, Joel C.
A1 Jung, Je H.
A1 Cikajlo, Imre
A1 Keller, Thierry
A1 Matjačić, Zlatko
AB 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.
SN 9781424441235
YR 2010
FD 2010
LK https://hdl.handle.net/11556/2477
UL https://hdl.handle.net/11556/2477
LA eng
NO 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
NO conference
DS TECNALIA Publications
RD 27 jul 2024