Oblak Jakob, Perry Joel C, Jung Je H, Cikajlo Imre, Keller Thierry, Matjacić Zlatko
University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, SI-Ljubljana, Slovenia.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:5859-62. doi: 10.1109/IEMBS.2010.5627515.
Numerous haptic devices have been developed for neurorehabilitation of upper extremities, but their wide-spread use has been largely impeded for reasons of complexity and cost. In this paper we describe a variable structure pantograph mechanism that produces a versatile rehabilitation robot for movement training of the shoulder, elbow, and wrist. The device has three operational modes: ARM, REACH and WRIST. The performance of the mechanism, driven by series elastic actuators, is similar in all three operational modes while using a single control scheme and set of gains. This means a single device with minimal setup changes can be used to treat a variety of upper limb impairments following stroke, traumatic brain injury, or other direct trauma to the arm.
已经开发出许多用于上肢神经康复的触觉设备，但由于其复杂性和成本，它们的广泛应用在很大程度上受到了阻碍。在本文中，我们描述了一种可变结构缩放仪机制，该机制制造出一种多功能康复机器人，用于肩部、肘部和腕部的运动训练。该设备有三种操作模式：手臂模式、伸展模式和手腕模式。由串联弹性致动器驱动的该机制在所有三种操作模式下性能相似，同时使用单一控制方案和一组增益。这意味着一个只需最少设置更改的单一设备可用于治疗中风、创伤性脑损伤或手臂其他直接创伤后出现的各种上肢损伤。
