Oblak, JakobPerry, Joel C.Jung, Je H.Cikajlo, ImreKeller, ThierryMatjačić, Zlatko2024-07-242024-07-242010Oblak , 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.2010.5627515conference9781424441235https://hdl.handle.net/11556/2477Numerous 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.4enginfo:eu-repo/semantics/restrictedAccessconference output10.1109/IEMBS.2010.5627515Biomedical EngineeringComputer Vision and Pattern RecognitionSignal ProcessingHealth InformaticsSDG 3 - Good Health and Well-beinghttp://www.scopus.com/inward/record.url?scp=78650840066&partnerID=8YFLogxK