ALL libraries (COBIB.SI union bibliographic/catalogue database)
13.
Universal haptic drive : a robot for arm and wrist rehabilitation
Oblak, Jakob ; Cikajlo, Imre ; Matjačić, Zlatko
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.
It was not necessary to add the material to the shelf.
Bibliographic material was successfully added on shelf.
Adding bibliographical material on shelf was not successful.
Material is already on the shelf.
Permalink
URL:
Impact factor
Access to the JCR database is permitted only to users from Slovenia. Your current IP address is not on the list of IP addresses with access permission, and authentication with the relevant AAI accout is required.
Year
Impact factor
Edition
Category
Classification
JCR
SNIP
JCR
SNIP
JCR
SNIP
JCR
SNIP
Impact factor
Select the library membership card:
DRS,
in which the journal is indexed
Database name
Field
Year
Links to authors' personal bibliographies
Links to information on researchers in the SICRIS system
Subject headings in COBISS General List of Subject Headings
Select pickup location
The material from the parent unit is free. If the material is delivered to the pickup location from another unit, the library may charge you for this service.
