We have developed universal haptic device that enables comprehensive upper extremity training of arm (elbow, shoulder) and wrist/flexion/extension, pronation/supination and ulnar/radial deviation) through only 2 actuated degrees of freedom. Device is based on a pantograph mechanism with variable workspace depending on the locking/unlocking configuration of particular passive joints.
COBISS.SI-ID: 950889
Haptic robot has turned out to be efficient tool for fMRI brain research. Besides providing positional and velocity information haptic robt can exert desired force on a subject. Two scientific studies including over twenty subjects have been carried out with the use of the extended haptic robot. In the first study we observed regions of human brain activation during virtual environment reaching. Trajectory planning and execution has been studied in second research.
COBISS.SI-ID: 7614036
The effects of visual and haptic modalities on the adaptation capabilities of healthy subjects to the virtual environment were compared. Visual feedback was provided by real-time visualization and optical measurements of a virtual teacher and avatar. The haptic feedback was provided by robotic gait training system Lokomat. We observed a better task performance with the haptic modality compared to visual modality.
COBISS.SI-ID: 8078932
We clinically validated a system that uses four psychophysiological sensors (electrocardiogram, skin conductance, respiration and peripheral skin temperature) to estimate the psychological state of a patient during robot-aided motor rehabilitation. The system was tested with twenty-three subacute stroke patients, ten chronic stroke patients and twenty-three healthy subjects.
COBISS.SI-ID: 7840596
We have developed a control system for a commercially available hydraulic telescopic handler. The target application for the handler was a semiautomated assembly of facade panels produced by Trimo, Trebnje. A closed loop control approach was implemented, and algorithms were developed that enable handler usage in manual, semiautomatic and automatic mode of operation. For a supervision of assembly process the optical, ultrasound and laser sensors were incorporated into the control system.
COBISS.SI-ID: 7953492