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Variable Structure Pantograph Mechanism With Spring Suspension System for Comprehensive Upper-Limb Haptic Movement Training

By Perry, Joel C.; Oblak, Jakob; Jung, Je H.; Cikajlo, Imre; Veneman, Jan F.; Goljar, Nika; Bizovicar, Natasa; Matjacic, Zlatko; Keller, Tierry; Journal of Rehabilitation Research and Development, Vol. 48, No. 4, pp. 317-334
Publication Date: 2011

Paper describes the Universal Haptic Pantograph, a rehabilitation robot for movement training of the shoulder, elbow, and wrist. The robot consists of a variable structure pantograph mechanism combined with a spring suspension system. 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 device has eight operational modes: Arm, Wrist, ISO (isometric) 1, ISO 2, Reach, Lift 1, Lift 2, and Steer. 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 resulting from stroke, traumatic brain injury, or direct trauma to the arm. With appropriately selected design parameters, the multimode haptic device significantly reduces the costs of robotic hardware for full arm rehabilitation while performing similarly to that of single mode haptic devices. Case studies were conducted with three patients with stroke who underwent clinical training using the Universal Haptic Pantograph in Arm, Wrist and/or Reach operational modes. Outcomes were assessed using Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores showing that upper limb ability improved significantly following training sessions.
Published by:

VA Rehabilitation Research & Development Service    (Web Site: http://www.rehab.research.va.gov )
Link to text: http://www.rehab.research.va.gov/jour/11/484/perry484.html
This publication is included in the library of the National Rehabilitation Information Center (NARIC), accession number J61375
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