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Related Experiment Video

Updated: Jun 1, 2026

Application of a Dual Upper Limb Task-Oriented Robotic System for the Functional Recovery of the Upper Limb in Stroke Patients

Application of a Dual Upper Limb Task-Oriented Robotic System for the Functional Recovery of the Upper Limb in Stroke Patients

Published on: October 11, 2024

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

Joel C Perry¹, Jakob Oblak, Je H Jung

¹Tecnalia Research & Innovation, Health and Quality of Life Division, Donostia-San Sebastian, Spain.

Journal of Rehabilitation Research and Development

|June 16, 2011

Summary

A novel Universal Haptic Pantograph robot offers versatile, low-cost upper-limb neurorehabilitation. This device effectively trains shoulder, elbow, and wrist movements, significantly improving patient outcomes after stroke or injury.

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Last Updated: Jun 1, 2026

Application of a Dual Upper Limb Task-Oriented Robotic System for the Functional Recovery of the Upper Limb in Stroke Patients

Application of a Dual Upper Limb Task-Oriented Robotic System for the Functional Recovery of the Upper Limb in Stroke Patients

Published on: October 11, 2024

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy

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Published on: August 8, 2011

A Flexible Wearable Supernumerary Robotic Limb for Chronic Stroke Patients

A Flexible Wearable Supernumerary Robotic Limb for Chronic Stroke Patients

Published on: October 27, 2023

Area of Science:

Robotics
Neurorehabilitation Engineering
Biomechanics

Background:

Haptic devices for upper-limb neurorehabilitation are often complex and expensive, limiting their widespread adoption.
Existing devices may not offer versatility for diverse patient needs and recovery stages.

Purpose of the Study:

To introduce the Universal Haptic Pantograph (UHP), a cost-effective and versatile robotic system for upper-limb neurorehabilitation.
To demonstrate the UHP's capability in training shoulder, elbow, and wrist movements across multiple operational modes.

Main Methods:

Development of a 5-degree-of-freedom (DOF) variable structure pantograph mechanism with configurable joint locks (0-3 DOF).
Integration of a spring suspension system and series elastic actuators for consistent performance across eight operational modes.
Clinical case studies involving three stroke patients utilizing the UHP for upper-limb training.

Main Results:

The UHP demonstrated suitability for training activities of daily living with a unified control scheme across all modes.
Case studies showed significant improvements in upper-limb function as measured by Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores.
The device significantly reduced robotic hardware costs compared to single-mode devices while maintaining comparable performance.

Conclusions:

The Universal Haptic Pantograph is a versatile, cost-effective solution for upper-limb neurorehabilitation, addressing limitations of current haptic devices.
The UHP's multi-mode functionality and consistent performance facilitate tailored rehabilitation for various upper-limb impairments.
Clinical application demonstrated significant functional gains in stroke patients, highlighting the device's therapeutic potential.