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

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.