Author/Editor		Oblak, Jakob; Cikajlo, Imre; Matjačić, Zlatko
Title		Haptic robot for arm and wrist rehabilitation
Type		članek
Source		In: World congress on medical physics and biomedical engineering; 2009 Sep 7-12; Munich. Heidelberg: Springer,
Publication year		2009
Volume		str. 20-3
Language		eng
Abstract		Robor-mediated rehabilitation is rapidly advancing field. However, robots that are used for rehabilitation purposes are usually single task oriented. This paper presents the design of a universal haptic device (UHD) for arm and wrist rehabilitation. 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). The performance of the developed robot and impedance controller were tested in different regimes of operation: simulation of empty space and "high impedance" simulation. The results show that the developed haptic device may be used in robot-assisted rehabilitation.