Oblak, J.Cikajlo, I.Keller, T.Perrry, J. C.Veneman, J.Matjačić, Z.2024-07-242024-07-242010Oblak , J , Cikajlo , I , Keller , T , Perrry , J C , Veneman , J & Matjačić , Z 2010 , The role of viscous damping on quality of haptic interaction in upper limb rehabilitation robot : A simulation study . in XII Mediterranean Conference on Medical and Biological Engineering and Computing 2010, MEDICON 2010 . IFMBE Proceedings , vol. 29 , pp. 383-386 , 12th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2010 , Chalkidiki , Greece , 27/05/10 . https://doi.org/10.1007/978-3-642-13039-7_96conference97836421303801680-0737https://hdl.handle.net/11556/1888In 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.4enginfo:eu-repo/semantics/restrictedAccessconference output10.1007/978-3-642-13039-7_96armdamperHapticsneurological rehabilitationseries elastic actuationwristBioengineeringBiomedical Engineeringhttp://www.scopus.com/inward/record.url?scp=77957551142&partnerID=8YFLogxK