Author/Editor		Oblak, Jakob; Cikajlo, Imre; Matjačić, Zlatko
Title		A universal haptic device for arm and wrist rehabilitation
Type		članek
Source		In: ICORR 2009. 11th International conference on rehabilitation robotics; 2009 June 23-26; Kyoto. [S. l.]: Institute of Electrical and Electronics Engineers,
Publication year		2009
Volume		str. 436-41
Language		eng
Abstract		Robot-mediated rehabilitation is rapidly advancing field. However, robots that are used for rehabilitation purposes are usually single task oriented. One approach to overcome that issue is in introducing robot devices with more Degrees-of-Freedom (DOF), which means complicated and expensive design. This paper presents the design of a universal haptic device (UHD) for arm and wrist rehabilitation, with only 2-DOF drive. The essence of the developed device is in mechanical design, which enables the rehabilitation of the upper limb in two different modes; "ARM" and "WRIST" mode. By simple mechanical reconfiguration it is possible to switch between both modes, which enables gradual rehabilitation of complete upper limb. Device is actuated by 2-DOF haptic drive based on Series Elastic Actuation (SEA).