engleski

Forearm and Wrist Active Rehabilitation Device

Active mechatronics rehabilitation devices are instrumental in physical rehabilitation of stroke patients [1]. Especially important in this frame is the forearm and wrist rehabilitation that is crucial in assuring regaining the most important everyday activities and functionalities. Based on initial considerations on human arm anatomy and the respective kinematics, a thorough analysis of the state-of-the-art active mechatronics forearm and wrist rehabilitation devices will hence be presented in this work [2- 4]. It will be shown that the available devices, increasingly relying on parallel kinematic configurations, differ considerably in the number and type (active vs. passive) of the considered degrees-offreedom (DOFs), as well as in the respective ranges of motion (ROMs) and needed actuating torques. Average ROM values of 160° for forearm pronation/supination, of 70° for wrist radial/ulnar deviations and of 120° for wrist flexion/extension can, however, be deduced, with the need torques of, respectively, 3.2, 2.2 and 2 Nm. These torques are commonly attained by using brushed or brushless DC motors, coupled to gear reducers (in some cases all integrated in series elastic actuators (SEA)), as well as encoders for positioning feedback, while the required motion transfer is often based on some form of cable drives. In some instances, stepper motors are used instead. The signals on the motion of the forearm itself are, in turn, obtained via inertial motion or electromyography sensors. Based on this analysis, several design configurations of a forearm and wrist mechatronics rehabilitation device will be proposed and critically evaluated. The most promising one will constitute the basis for the development of a compact, efficient and cost- effective innovative design configuration.

mechanical engineering design ; mechatronics ; rehabilitation ; forearm and wrist

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