TY - GEN
T1 - A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training
AU - Oblak, Jakob
AU - Perry, Joel C.
AU - Jung, Je H.
AU - Cikajlo, Imre
AU - Keller, Thierry
AU - Matjačić, Zlatko
PY - 2010
Y1 - 2010
N2 - Numerous 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.
AB - Numerous 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.
UR - http://www.scopus.com/inward/record.url?scp=78650840066&partnerID=8YFLogxK
U2 - 10.1109/IEMBS.2010.5627515
DO - 10.1109/IEMBS.2010.5627515
M3 - Conference contribution
C2 - 21096924
AN - SCOPUS:78650840066
SN - 9781424441235
T3 - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
SP - 5859
EP - 5862
BT - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
T2 - 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Y2 - 31 August 2010 through 4 September 2010
ER -
