TY - JOUR AU - Oblak, Jakob AU - Matjačić, Zlatko PY - 2011 DA - 2011/01/20 TI - Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device JO - Journal of NeuroEngineering and Rehabilitation SP - 3 VL - 8 IS - 1 AB - Variable structure parallel mechanisms, actuated with low-cost motors with serially added elasticity (series elastic actuator - SEA), has considerable potential in rehabilitation robotics. However, reflected masses of a SEA and variable structure parallel mechanism linked with a compliant actuator result in a potentially unstable coupled mechanical oscillator, which has not been addressed in previous studies. SN - 1743-0003 UR - https://doi.org/10.1186/1743-0003-8-3 DO - 10.1186/1743-0003-8-3 ID - Oblak2011 ER -