Universal Haptic Drive: A Robot for Arm and Wrist Rehabilitation

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 18; no. 3; pp. 293 - 302
• Main Authors: Oblak, Jakob, Cikajlo, Imre, Matjacic, Zlatko
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2010; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Arm; Arm - physiology; Biomechanical Phenomena; Chronic Disease; Cognitive robotics; Elbow; Extremities; Force control; Haptic interfaces; haptics; Humans; Impedance; Medical treatment; neurological rehabilitation; Paresis - rehabilitation; Potentiometry; Rehabilitation - instrumentation; Rehabilitation robotics; Robotics; series elastic actuation; Stroke Rehabilitation; Studies; Testing; Wrist; Wrist - physiology

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/unl...