RT Journal Article
T1 Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training
A1 Perry, Joel C.
A1 Oblak, Jakob
A1 Jung, Je H.
A1 Cikajlo, Imre
A1 Veneman, Jan F.
A1 Goljar, Nika
A1 Bizovičar, Nataša
A1 Matjačić, Zlatko
A1 Keller, Thierry
AB Numerous 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.
SN 0748-7711
YR 2011
FD 2011
LK https://hdl.handle.net/11556/4579
UL https://hdl.handle.net/11556/4579
LA eng
NO Perry , 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
DS TECNALIA Publications
RD 27 jul 2024