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
We have developed a new method of trajectory planning in rehabilitation robotics where B-spline approximation was used to mathematically define the measured paths, which serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping force an optional guidance force can be applied along the tunnel to reach the place point. We compared the pick to place movements with and without tunnel use in healthy subject and in stroke hemiplegic patient.
COBISS.SI-ID: 7362900