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.
authors.affiliation: University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, SI-Ljubljana, Slovenia.
authors.forename: Jakob
authors.initials: J
authors.lastname: Oblak
authors.forename: Joel C
authors.initials: JC
authors.lastname: Perry
authors.forename: Je H
authors.initials: JH
authors.lastname: Jung
authors.forename: Imre
authors.initials: I
authors.lastname: Cikajlo
authors.forename: Thierry
authors.initials: T
authors.lastname: Keller
authors.forename: Zlatko
authors.initials: Z
authors.lastname: Matjacić
mesh_terms: D001696:Biomechanical Phenomena; D006801:Humans; D009068:Movement / Q000502:physiology*; D026741:Physical Therapy Modalities / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D014110:Touch / Q000502:physiology*; D034941:Upper Extremity / Q000502:physiology*