A universal haptic device for arm and wrist rehabilitation

J. Oblak, I. Cikajlo, Z. Matjačić
{"title":"A universal haptic device for arm and wrist rehabilitation","authors":"J. Oblak, I. Cikajlo, Z. Matjačić","doi":"10.1109/ICORR.2009.5209605","DOIUrl":null,"url":null,"abstract":"Robot-mediated rehabilitation is rapidly advancing field. However, robots that are used for rehabilitation purposes are usually single task oriented. One approach to overcome that issue is in introducing robotic devices with more Degrees-of-Freedom (DOF), which means complicated and expensive design. This paper presents the design of a universal haptic device (UHD) for arm and wrist rehabilitation, with only 2-DOF drive. The essence of the developed device is in mechanical design, which enables the rehabilitation of the upper limb in two different modes; “ARM” and “WRIST” mode. By simple mechanical reconfiguration it is possible to switch between both modes, which enables gradual rehabilitation of complete upper limb. Device is actuated by 2-DOF haptic drive based on Series Elastic Actuation (SEA).","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"65 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE International Conference on Rehabilitation Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2009.5209605","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 14

Abstract

Robot-mediated rehabilitation is rapidly advancing field. However, robots that are used for rehabilitation purposes are usually single task oriented. One approach to overcome that issue is in introducing robotic devices with more Degrees-of-Freedom (DOF), which means complicated and expensive design. This paper presents the design of a universal haptic device (UHD) for arm and wrist rehabilitation, with only 2-DOF drive. The essence of the developed device is in mechanical design, which enables the rehabilitation of the upper limb in two different modes; “ARM” and “WRIST” mode. By simple mechanical reconfiguration it is possible to switch between both modes, which enables gradual rehabilitation of complete upper limb. Device is actuated by 2-DOF haptic drive based on Series Elastic Actuation (SEA).
一种用于手臂和手腕康复的通用触觉装置
机器人介导的康复是一个快速发展的领域。然而,用于康复目的的机器人通常是单一任务导向的。克服这个问题的一种方法是引入具有更多自由度(DOF)的机器人设备,这意味着复杂和昂贵的设计。本文介绍了一种用于手臂和手腕康复的通用触觉装置(UHD)的设计,只有2自由度驱动。该装置的核心在于机械设计,使上肢的康复能够以两种不同的方式进行;“ARM”和“WRIST”模式。通过简单的机械重新配置,可以在两种模式之间切换,从而实现整个上肢的逐渐康复。该装置采用基于串联弹性驱动(SEA)的2自由度触觉驱动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信