Figure 2From: Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic deviceA variable structure parallel mechanism. A variable structure parallel mechanism enables using the device in different operational modes. Switching between modes can be easily achieved by locking or releasing joints I, II, III (A). Workspace in the "ARM" mode (B), "WRIST" mode (C) and "REACH" mode (D) are presented.Back to article page