Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training.
Identifieur interne : 000E47 ( PubMed/Corpus ); précédent : 000E46; suivant : 000E48Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training.
Auteurs : Joel C. Perry ; Jakob Oblak ; Je H. Jung ; Imre Cikajlo ; Jan F. Veneman ; Nika Goljar ; Nataša Bizovi Ar ; Zlatko Matja I ; Thierry KellerSource :
- Journal of rehabilitation research and development [ 1938-1352 ] ; 2011.
English descriptors
- KwdEn :
- MESH :
- complications : Stroke.
- economics : Robotics.
- etiology : Paresis.
- instrumentation : Robotics.
- rehabilitation : Paresis, Stroke.
- Activities of Daily Living, Biomechanical Phenomena, Upper Extremity.
Abstract
Numerous haptic devices have been developed for upper-limb neurorehabilitation, but their widespread use has been largely impeded because of complexity and cost. Here, we describe a variable structure pantograph mechanism combined with a spring suspension system that produces a versatile rehabilitation robot, called Universal Haptic Pantograph, for movement training of the shoulder, elbow, and wrist. The variable structure is a 5-degree-of-freedom (DOF) mechanism composed of 7 joints, 11 joint axes, and 3 configurable joint locks that reduce the number of system DOFs to between 0 and 3. The resulting device has eight operational modes: Arm, Wrist, ISO (isometric) 1, ISO 2, Reach, Lift 1, Lift 2, and Steer. The combination of available work spaces (reachable areas) shows a high suitability for movement training of most upper-limb activities of daily living. The mechanism, driven by series elastic actuators, performs similarly in all operational modes, with a single control scheme and set of gains. Thus, a single device with minimal setup changes can be used to treat a variety of upper-limb impairments that commonly afflict veterans with stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multimode haptic device significantly reduces the costs of robotic hardware for full-arm rehabilitation while performing similarly to that of single-mode haptic devices. We conducted case studies with three patients with stroke who underwent clinical training using the developed mechanism in Arm, Wrist, and/or Reach operational modes. We assessed outcomes using Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores showing that upper-limb ability improved significantly following training sessions.
PubMed: 21674386
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pubmed:21674386Le document en format XML
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Veneman</name></author><author><name sortKey="Goljar, Nika" sort="Goljar, Nika" uniqKey="Goljar N" first="Nika" last="Goljar">Nika Goljar</name></author><author><name sortKey="Bizovi Ar, Natasa" sort="Bizovi Ar, Natasa" uniqKey="Bizovi Ar N" first="Nataša" last="Bizovi Ar">Nataša Bizovi Ar</name></author><author><name sortKey="Matja I, Zlatko" sort="Matja I, Zlatko" uniqKey="Matja I Z" first="Zlatko" last="Matja I">Zlatko Matja I</name></author><author><name sortKey="Keller, Thierry" sort="Keller, Thierry" uniqKey="Keller T" first="Thierry" last="Keller">Thierry Keller</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="RBID">pubmed:21674386</idno><idno type="pmid">21674386</idno><idno type="wicri:Area/PubMed/Corpus">000E47</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training.</title><author><name sortKey="Perry, Joel C" sort="Perry, Joel C" uniqKey="Perry J" first="Joel C" last="Perry">Joel C. Perry</name><affiliation><nlm:affiliation>Tecnalia Research & Innovation, Health and Quality of Life Division, Donostia-San Sebastian, Spain.</nlm:affiliation></affiliation></author><author><name sortKey="Oblak, Jakob" sort="Oblak, Jakob" uniqKey="Oblak J" first="Jakob" last="Oblak">Jakob Oblak</name></author><author><name sortKey="Jung, Je H" sort="Jung, Je H" uniqKey="Jung J" first="Je H" last="Jung">Je H. Jung</name></author><author><name sortKey="Cikajlo, Imre" sort="Cikajlo, Imre" uniqKey="Cikajlo I" first="Imre" last="Cikajlo">Imre Cikajlo</name></author><author><name sortKey="Veneman, Jan F" sort="Veneman, Jan F" uniqKey="Veneman J" first="Jan F" last="Veneman">Jan F. Veneman</name></author><author><name sortKey="Goljar, Nika" sort="Goljar, Nika" uniqKey="Goljar N" first="Nika" last="Goljar">Nika Goljar</name></author><author><name sortKey="Bizovi Ar, Natasa" sort="Bizovi Ar, Natasa" uniqKey="Bizovi Ar N" first="Nataša" last="Bizovi Ar">Nataša Bizovi Ar</name></author><author><name sortKey="Matja I, Zlatko" sort="Matja I, Zlatko" uniqKey="Matja I Z" first="Zlatko" last="Matja I">Zlatko Matja I</name></author><author><name sortKey="Keller, Thierry" sort="Keller, Thierry" uniqKey="Keller T" first="Thierry" last="Keller">Thierry Keller</name></author></analytic><series><title level="j">Journal of rehabilitation research and development</title><idno type="eISSN">1938-1352</idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Activities of Daily Living</term><term>Biomechanical Phenomena</term><term>Paresis (etiology)</term><term>Paresis (rehabilitation)</term><term>Robotics (economics)</term><term>Robotics (instrumentation)</term><term>Stroke (complications)</term><term>Stroke (rehabilitation)</term><term>Upper Extremity</term></keywords><keywords scheme="MESH" qualifier="complications" xml:lang="en"><term>Stroke</term></keywords><keywords scheme="MESH" qualifier="economics" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="etiology" xml:lang="en"><term>Paresis</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="rehabilitation" xml:lang="en"><term>Paresis</term><term>Stroke</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Activities of Daily Living</term><term>Biomechanical Phenomena</term><term>Upper Extremity</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Numerous haptic devices have been developed for upper-limb neurorehabilitation, but their widespread use has been largely impeded because of complexity and cost. Here, we describe a variable structure pantograph mechanism combined with a spring suspension system that produces a versatile rehabilitation robot, called Universal Haptic Pantograph, for movement training of the shoulder, elbow, and wrist. The variable structure is a 5-degree-of-freedom (DOF) mechanism composed of 7 joints, 11 joint axes, and 3 configurable joint locks that reduce the number of system DOFs to between 0 and 3. The resulting device has eight operational modes: Arm, Wrist, ISO (isometric) 1, ISO 2, Reach, Lift 1, Lift 2, and Steer. The combination of available work spaces (reachable areas) shows a high suitability for movement training of most upper-limb activities of daily living. The mechanism, driven by series elastic actuators, performs similarly in all operational modes, with a single control scheme and set of gains. Thus, a single device with minimal setup changes can be used to treat a variety of upper-limb impairments that commonly afflict veterans with stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multimode haptic device significantly reduces the costs of robotic hardware for full-arm rehabilitation while performing similarly to that of single-mode haptic devices. We conducted case studies with three patients with stroke who underwent clinical training using the developed mechanism in Arm, Wrist, and/or Reach operational modes. We assessed outcomes using Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores showing that upper-limb ability improved significantly following training sessions.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">21674386</PMID><DateCreated><Year>2011</Year><Month>06</Month><Day>15</Day></DateCreated><DateCompleted><Year>2011</Year><Month>10</Month><Day>18</Day></DateCompleted><DateRevised><Year>2013</Year><Month>11</Month><Day>21</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1938-1352</ISSN><JournalIssue CitedMedium="Internet"><Volume>48</Volume><Issue>4</Issue><PubDate><Year>2011</Year></PubDate></JournalIssue><Title>Journal of rehabilitation research and development</Title><ISOAbbreviation>J Rehabil Res Dev</ISOAbbreviation></Journal><ArticleTitle>Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training.</ArticleTitle><Pagination><MedlinePgn>317-33</MedlinePgn></Pagination><Abstract><AbstractText>Numerous haptic devices have been developed for upper-limb neurorehabilitation, but their widespread use has been largely impeded because of complexity and cost. Here, we describe a variable structure pantograph mechanism combined with a spring suspension system that produces a versatile rehabilitation robot, called Universal Haptic Pantograph, for movement training of the shoulder, elbow, and wrist. The variable structure is a 5-degree-of-freedom (DOF) mechanism composed of 7 joints, 11 joint axes, and 3 configurable joint locks that reduce the number of system DOFs to between 0 and 3. The resulting device has eight operational modes: Arm, Wrist, ISO (isometric) 1, ISO 2, Reach, Lift 1, Lift 2, and Steer. The combination of available work spaces (reachable areas) shows a high suitability for movement training of most upper-limb activities of daily living. The mechanism, driven by series elastic actuators, performs similarly in all operational modes, with a single control scheme and set of gains. Thus, a single device with minimal setup changes can be used to treat a variety of upper-limb impairments that commonly afflict veterans with stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multimode haptic device significantly reduces the costs of robotic hardware for full-arm rehabilitation while performing similarly to that of single-mode haptic devices. We conducted case studies with three patients with stroke who underwent clinical training using the developed mechanism in Arm, Wrist, and/or Reach operational modes. We assessed outcomes using Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores showing that upper-limb ability improved significantly following training sessions.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Perry</LastName><ForeName>Joel C</ForeName><Initials>JC</Initials><AffiliationInfo><Affiliation>Tecnalia Research & Innovation, Health and Quality of Life Division, Donostia-San Sebastian, Spain.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Oblak</LastName><ForeName>Jakob</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Jung</LastName><ForeName>Je H</ForeName><Initials>JH</Initials></Author><Author ValidYN="Y"><LastName>Cikajlo</LastName><ForeName>Imre</ForeName><Initials>I</Initials></Author><Author ValidYN="Y"><LastName>Veneman</LastName><ForeName>Jan F</ForeName><Initials>JF</Initials></Author><Author ValidYN="Y"><LastName>Goljar</LastName><ForeName>Nika</ForeName><Initials>N</Initials></Author><Author ValidYN="Y"><LastName>Bizovičar</LastName><ForeName>Nataša</ForeName><Initials>N</Initials></Author><Author ValidYN="Y"><LastName>Matjačić</LastName><ForeName>Zlatko</ForeName><Initials>Z</Initials></Author><Author ValidYN="Y"><LastName>Keller</LastName><ForeName>Thierry</ForeName><Initials>T</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>J Rehabil Res Dev</MedlineTA><NlmUniqueID>8410047</NlmUniqueID><ISSNLinking>0748-7711</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000203">Activities of Daily Living</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D010291">Paresis</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000209">etiology</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000534">rehabilitation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000191">economics</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D020521">Stroke</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000150">complications</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000534">rehabilitation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D034941">Upper Extremity</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2011</Year><Month>6</Month><Day>16</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2011</Year><Month>6</Month><Day>16</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2011</Year><Month>10</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">21674386</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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