A Fairly Simple Mechatronic Device for Training Human Wrist Motion

This paper proposes a novel device for wrist motion rehabilitation. The proposed mechatronic architecture is based on a simple user-friendly design, which includes a mobile platform for hand support, which is operated by a single actuator. A dedicated assist-as-needed control is designed to operate the device for the required movements. The proposed control strategy is also integrated into a gaming software for stimulating the exercising by means of various interactions with patients. Experimental tests are carried out with fourteen healthy subjects at thePhysiotherapyClinical Hospital of theFederal University of Uberlandia(UFU). Also three patients with stroke have been enrolled in a pilot clinical testing. Each of the patients has been involved in 4 sessions/month with 15 minutes of assisted treatment. Results of experimental tests are analyzed in terms of improvements and amplitude gains for the flexion and extension wrist movements. Experimental results are reported as evidences for the feasibility and soundness of the proposed device as a tool to assist professionals in procedures of wrist rehabilitation.