A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training

Jakob Oblak; Joel C. Perry; Je H. Jung; Imre Cikajlo; Thierry Keller; Zlatko Matjačić

doi:10.1109/IEMBS.2010.5627515

A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training

Jakob Oblak^*
, Joel C. Perry
, Je H. Jung
, Imre Cikajlo
, Thierry Keller
, Zlatko Matjačić

^*Corresponding author for this work

University Rehabilitation Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages	5859-5862
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2010.5627515
Publication status	Published - 2010
Event	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, Argentina Duration: 31 Aug 2010 → 4 Sept 2010

Publication series

Name	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

Conference

Conference	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Country/Territory	Argentina
City	Buenos Aires
Period	31/08/10 → 4/09/10

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/IEMBS.2010.5627515

Cite this

Oblak, 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 (pp. 5859-5862). Article 5627515 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10). https://doi.org/10.1109/IEMBS.2010.5627515

Oblak, Jakob ; Perry, Joel C. ; Jung, Je H. et al. / A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training. 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. pp. 5859-5862 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10).

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title = "A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training",

abstract = "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.",

author = "Jakob Oblak and Perry, \{Joel C.\} and Jung, \{Je H.\} and Imre Cikajlo and Thierry Keller and Zlatko Matja{\v c}i{\'c}",

year = "2010",

doi = "10.1109/IEMBS.2010.5627515",

language = "English",

isbn = "9781424441235",

series = "2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10",

pages = "5859--5862",

booktitle = "2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10",

note = "2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 ; Conference date: 31-08-2010 Through 04-09-2010",

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Oblak, J, Perry, JC, Jung, JH, 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.2010.5627515

A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training. / Oblak, Jakob; Perry, Joel C.; Jung, Je H. et al.
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. p. 5859-5862 5627515 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Matjačić, Zlatko

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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.

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SN - 9781424441235

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ER -

Oblak J, Perry JC, Jung JH, Cikajlo I, Keller T, Matjačić Z. 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. 2010. p. 5859-5862. 5627515. (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10). doi: 10.1109/IEMBS.2010.5627515

A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training

Abstract

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UN SDGs

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