Establishment and Evaluation of a Robotic Wrist Exoskeleton for Rehabilitation

Abstract

Within the domain of neurorehabilitation, the scientific community has increasingly advocated for the employment of robotic apparatuses to facilitate prolonged and intensive motor therapy. Of particular importance is the frequently neglected hand and wrist rehabilitation, which is instrumental in regaining the fundamental abilities required for daily activities. A state-of-the-art hand-wrist exoskeleton has been devised, and the current research delves into the architectural intricacies of the wrist component, as well as the human factors that augment its effectiveness in conjunction with the hand segment during both virtual and assisted grasping tasks. Moreover, the design addresses pragmatic considerations, encompassing ergonomics, clinician usability, and adaptability for ambidextrous configurations. The functional workspace and dynamic properties of the wrist module have been appraised through methodical evaluations, showcasing its enhanced capabilities in comparison to preceding devices with regards to motion range, torque production, friction minimization, and closed-loop position bandwidth. These performance and operational attributes underscore the potential for the integration of the wrist module in future clinical investigations.