A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training.
Identifieur interne : 003841 ( Main/Curation ); précédent : 003840; suivant : 003842A variable structure pantograph mechanism for comprehensive upper extremity haptic movement training.
Auteurs : Jakob Oblak [Slovénie] ; Joel C. Perry ; Je H. Jung ; Imre Cikajlo ; Thierry Keller ; Zlatko MatjaciSource :
- Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference [ 1557-170X ] ; 2010.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Physical Therapy Modalities, Robotics.
- methods : Robotics.
- physiology : Movement, Touch, Upper Extremity.
- Biomechanical Phenomena, Humans.
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.
DOI: 10.1109/IEMBS.2010.5627515
PubMed: 21096924
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pubmed:21096924Le document en format XML
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<country xml:lang="fr">Slovénie</country>
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<author><name sortKey="Jung, Je H" sort="Jung, Je H" uniqKey="Jung J" first="Je H" last="Jung">Je H. Jung</name>
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<author><name sortKey="Cikajlo, Imre" sort="Cikajlo, Imre" uniqKey="Cikajlo I" first="Imre" last="Cikajlo">Imre Cikajlo</name>
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<author><name sortKey="Keller, Thierry" sort="Keller, Thierry" uniqKey="Keller T" first="Thierry" last="Keller">Thierry Keller</name>
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<front><div type="abstract" xml:lang="en">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.</div>
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