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haptic (2 posts)
Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training
2011, The Journal of Rehabilitation Research and Development
Joel C. Perry, PhD; 1
Jakob Oblak; 2
Je H. Jung, PhD; 1
Imre Cikajlo, PhD; 2
Jan Veneman, PhD; 1
Nika Goljar, MD, PhD; 2
Nataša Bizovičar, MD; 2
Zlatko Matjačić, PhD; 2
Thierry Keller, PhD 1
1 Biorobotics Department, Fatronik-Tecnalia, Mikeletegi Pasealekua, 7, San-Sebastian, Spain;
2 University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, Ljubljana, Slovenia. Abstract
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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 and combined spring suspension system that produces a versatile rehabilitation robot, termed the Universal Haptic Pantograph (UHP), 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 8 operational modes: (1) “ARM”, (2) “WRIST”, (3) “ISO 1”, (4) “ISO 2”, (5) “REACH”, (6) “LIFT 1”, (7) “LIFT 2”, and (8) “STEER”. The combination of available workspaces shows a high suitability for training most upper limb activities of daily living.
The performance of the mechanism, driven by series elastic actuators, is similar in all 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 commonly afflicting veterans resulting from such incidents as stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multi-function haptic device helps to significantly reduce the costs of robotic rehabilitation hardware while providing comparable performance to single-purpose haptic devices. Three clinical tests for the developed mechanism were performed, and outcomes of tests were assessed by Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores which revealed marked improvement in upper extremity ability following training sessions.
Joel C. Perry, PhD; 1
Jakob Oblak; 2
Je H. Jung, PhD; 1
Imre Cikajlo, PhD; 2
Jan Veneman, PhD; 1
Nika Goljar, MD, PhD; 2
Nataša Bizovičar, MD; 2
Zlatko Matjačić, PhD; 2
Thierry Keller, PhD 1
1 Biorobotics Department, Fatronik-Tecnalia, Mikeletegi Pasealekua, 7, San-Sebastian, Spain;
2 University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, Ljubljana, Slovenia. Abstract
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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 and combined spring suspension system that produces a versatile rehabilitation robot, termed the Universal Haptic Pantograph (UHP), 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 8 operational modes: (1) “ARM”, (2) “WRIST”, (3) “ISO 1”, (4) “ISO 2”, (5) “REACH”, (6) “LIFT 1”, (7) “LIFT 2”, and (8) “STEER”. The combination of available workspaces shows a high suitability for training most upper limb activities of daily living.
The performance of the mechanism, driven by series elastic actuators, is similar in all 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 commonly afflicting veterans resulting from such incidents as stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multi-function haptic device helps to significantly reduce the costs of robotic rehabilitation hardware while providing comparable performance to single-purpose haptic devices. Three clinical tests for the developed mechanism were performed, and outcomes of tests were assessed by Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores which revealed marked improvement in upper extremity ability following training sessions.
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