Robot for wrist rehabilitation

Abstract

In this paper a cable-based system is presented for rehabilitation of the wrist movements. The proposed structure consists of one or two cables that allow the movement of abduction-adduction and flexion-extension with different limits of movement and speed. The development of this robotic device is justified by the large number of people with upper limb problems. It starts with a study of the basic movements of wrist joint and the structures actually in use. The graphical simulations of the cable-based parallel structure for rehabilitation of the wrist movements are presented showing the viability of the proposed structure. Finally preliminary experimental tests are presented. © Springer Science+Business Media Dordrecht 2013.