Matjacic, ZlatkoCikajlo, ImreOblak, Jakob2015-06-262015-06-262008-10-10http://hdl.handle.net/11556/25A universal haptic drive system for arm and wrist rehabilitation is described comprising a hand accessory and a vertical handle for carrying the hand accessory, the vertical handle being movable in a transversal plane. It furthermore comprises a haptic actuator system for applying a force to the vertical handle. The vertical handle comprises a universal joint with locking ability. When the universal joint is unlocked, it enables movements for wrist rehabilitation, and when it is locked it causes a stiff substantially vertical handle enabling movements for arm rehabilitation.engpatentEP2349168 (B1)open accessUniversal haptic drive systemArm and wrist rehabilitation