Journal of Rehabilitation Research & Development (JRRD)

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Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training

Joel C. Perry, PhD, et al.


Figure 4. Pantograph mechanism with variable structure (joints A, B, and C may be locked or unlocked): (a) 3-dimensional computer-aided design drawing and (b) schematic drawing.

Various types of robotic rehabilitation systems have been proposed to treat veterans with upper-limb impairments, such as stroke, traumatic brain injury, or direct trauma to the arm. Furthermore, the effectiveness of robotic rehabilitation has been validated by many clinical studies; however, the high cost of currently available systems makes them unaffordable for many hospitals and rehabilitation centers. In this article, we describe and test a multifunction device developed for training shoulder, elbow, and wrist impairments. We found that this multifunction device could significantly reduce the cost of robotic rehabilitation hardware, while providing comparable performance to other single-function devices.

Volume 48 Number 4, 2011
   Pages 317 — 334


View HTML  ¦  View PDF  ¦  Contents Vol. 48, No. 4
This article and any supplementary material should be cited as follows:
Perry JC, Oblak J, Jung JH, Cikajlo I, Veneman JF, Goljar N, Bizovièar N, Matjaèiæ Z, Keller T. Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training. J Rehabil Res Dev. 2011;48(4):317-34.
DOI:10.1682/JRRD.2010.03.0043
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Last Reviewed or Updated  Wednesday, May 11, 2011 10:47 AM

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