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

^*Autor correspondiente de este trabajo

University Rehabilitation Institute

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6 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Páginas	5859-5862
Número de páginas	4
DOI	https://doi.org/10.1109/IEMBS.2010.5627515
Estado	Publicada - 2010
Evento	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, Argentina Duración: 31 ago 2010 → 4 sept 2010

Serie de la publicación

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

Conferencia

Conferencia	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
País/Territorio	Argentina
Ciudad	Buenos Aires
Período	31/08/10 → 4/09/10

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 3: Salud y bienestar

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10.1109/IEMBS.2010.5627515

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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. En 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 (pp. 5859-5862). Artículo 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).

@inproceedings{e9190ebe3cf040fcacdf9afbbc94fd16,

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",

}

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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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 - https://www.scopus.com/pages/publications/78650840066

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

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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. En 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

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