Design and Characterization of the Robotic Wrist Exoskeleton for Hand-Wrist Rehabilitation

Abstract

Medical professionals have approved robotic devices for long-term, intensive motor therapy following neurological impairment. However, hand and wrist therapy, often disregarded in rehabilitation robotics, is necessary to regain everyday life skills. A novel hand-wrist exoskeleton has been designed. This study describes the wrist module's design and human factors that maximize its potential as a coordinated hand wrist device. The serial wrist mechanism ensures interoperability with the hand module in virtual and aided grasping operations. Other practical considerations, including device ergonomics, clinician friendliness, and ambidextrous reconfigurability, have been addressed. A rehabilitation device, the wrist module's functional workspace, and dynamic features are measured experimentally. The device outperforms prior devices in terms of a range of motion, torque output, friction, and closed-loop position bandwidth. The performance and operational aspects of the provided wrist module support its implementation in future clinical studies.