%0 Generic
%A Oblak, J.
%A Cikajlo, I.
%A Keller, T.
%A Perrry, J. C.
%A Veneman, J.
%A Matjačić, Z.
%T The role of viscous damping on quality of haptic interaction in upper limb rehabilitation robot: 												A simulation study
%J IFMBE Proceedings
%D 2010
%@ 1680-0737
%U https://hdl.handle.net/11556/1888
%X In this paper we present a haptic device developed for neurological rehabilitation of upper limb. The main feature of the device is a variable parallel mechanism. By simple mechanical reconfiguration of joints in parallel mechanism, the device can be used in different operational modes, which enables gradual rehabilitation of upper limb. Device is actuated by 2-DOF haptic drive based on Series Elastic Actuator (SEA). A simulation study was undertaken, to explore the effect of added viscous damping in actuation of the device. Results of simulation indicate that addition of a damping element improves haptic performance.
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