Robotic-assisted wrist rehabilitation therapy for carpal tunnel syndrome

Abstract

This research proposes a unique cable-driven two-degree-of-freedom wrist exoskeleton robotic device for Range of Motion (ROM) exercises related to Carpal Tunnel Recovery (CTR). A transportable platform for hand support powered by two actuators and a nonwearable sensing system comprised the basic, user-friendly design of the proposed exoskeleton robotic device. A specialized assist-as-needed control was installed to make the necessary movements with the robotic device. Transferring the data to the exoskeleton for rehabilitation, the control approach was combined with a computer vision system that imitated the therapist's wrist motions. Utilizing a computer algorithm, hand landmarks were produced to mimic the therapist's wrist movements. A total of 20 participants (Male: 55 % and Female: 45 %) were involved in the experimental procedure. High-accuracy ROM readings were obtained: 87.5 % for flexion, 90.0 % for extension, 92.5 % for ulnar deviation, and 90.0 % for radial deviation. In the conventional method, the healthy persons have a ROM for wrist flexion and extension of 71.6° and 63.0°, respectively, but Carpal Tunnel Syndrome (CTS) patients have a reduced ROM of 49.4° and 38.9°. Healthy participants have ulnar and radial deviations of 45.6° and 27.0°, respectively, while CTS patients have lower values of 28.7° and 20.1°. Using an exoskeleton, healthy people exhibit ROM flexion and extension of 64.9° and 59.0°, compared to 42.9° and 34.5° in CTS patients. This pattern is also shown in the ulnar and radial deviations, which are 44.1° and 25.6° for healthy individuals and 27.1° and 18.9° for CTS patients, respectively. These findings demonstrated the validity of the measurement techniques, which is crucial for clinical evaluations and rehabilitation plans.