| Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training. | |
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MedLine Citation:
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PMID: 21674386 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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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. |
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Authors:
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Joel C Perry; Jakob Oblak; Je H Jung; Imre Cikajlo; Jan F Veneman; Nika Goljar; Nataša Bizovičar; Zlatko Matjačić; Thierry Keller |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: Journal of rehabilitation research and development Volume: 48 ISSN: 1938-1352 ISO Abbreviation: J Rehabil Res Dev Publication Date: 2011 |
Date Detail:
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Created Date: 2011-06-15 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 8410047 Medline TA: J Rehabil Res Dev Country: United States |
Other Details:
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Languages: eng Pagination: 317-34 Citation Subset: IM |
Affiliation:
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Tecnalia Research & Innovation, Health and Quality of Life Division, Donostia-San Sebastian, Spain. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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