| Universal haptic drive: a robot for arm and wrist rehabilitation. | |
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MedLine Citation:
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PMID: 19846386 Owner: NLM Status: MEDLINE |
Abstract/OtherAbstract:
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In this paper we present a universal haptic drive (UHD), a device that enables rehabilitation of either arm ("ARM" mode) or wrist ("WRIST" mode) movement in two degrees-of-freedom. The mode of training depends on the selected mechanical configuration, which depends on locking/unlocking of a passive universal joint. Actuation of the device is accomplished by utilizing a series elastic actuation principle, which enables use of off-the-shelf mechanical and actuation components. A proportional force control scheme, needed for implementation of impedance control based movement training, was implemented. The device performance in terms of achievable lower and upper bound of viable impedance range was evaluated through adequately chosen sinusoidal movement in eight directions of a planar movement for the "ARM" mode and in eight directions of a combined wrist flexion/extension and forearm pronation/supination movement for the "WRIST" mode. Additionally, suitability of the universal haptic drive for movement training was tested in a series of training sessions conducted with a chronic stroke subject. The results have shown that reliable and repeatable performance can be achieved in both modes of operation for all tested directions. |
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Authors:
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Jakob Oblak; Imre Cikajlo; Zlatko Matjacić |
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Publication Detail:
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Type: Journal Article; Research Support, Non-U.S. Gov't Date: 2009-10-20 |
Journal Detail:
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Title: IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society Volume: 18 ISSN: 1558-0210 ISO Abbreviation: IEEE Trans Neural Syst Rehabil Eng Publication Date: 2010 Jun |
Date Detail:
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Created Date: 2010-07-23 Completed Date: 2010-10-28 Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101097023 Medline TA: IEEE Trans Neural Syst Rehabil Eng Country: United States |
Other Details:
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Languages: eng Pagination: 293-302 Citation Subset: IM |
Affiliation:
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Institute for Rehabilitation, Republic of Slovenia, 1000 Ljubljana, Slovenia. jakob.oblak@ir-rs.si |
Export Citation:
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| MeSH Terms | |
Descriptor/Qualifier:
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Algorithms Arm / physiology* Biomechanics Chronic Disease Humans Paresis / rehabilitation* Potentiometry Rehabilitation / instrumentation* Robotics* Stroke / rehabilitation* Wrist / physiology* |
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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