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Variable Structure Pantograph Mechanism for Upper-Limb Haptic Movement Training

Explore a schematic drawing of lock configuration, wrist movements, haptic pantograph function, and more for upper-limb rehabilitation. Published in Journal of Rehabilitation Research and Development.

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Variable Structure Pantograph Mechanism for Upper-Limb Haptic Movement Training

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  1. Figure 6. Wrist mode: (a) Schematic drawing of lock configuration BC (refer to Table 1), (b) pronation (P)/supination (S), (c) movement of Uni-versal Haptic Pantograph (UHP), (d) flexion (F)/extension (E),(e) movement of UHP under F and E, (f) radial (R)/ulnar (U) devia-tion, and (g) movement of UHP under R and U. 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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