Design of a wrist rotation rehabilitation robot

Abstract

This paper describes the design of a wrist rotation rehabilitation robot based on force measurements for severe stroke patients lying in bed wards or at home which allows them to receive wrist rehabilitation exercise. The manufactured six-axis force/torque sensor which can detect three directional force Fx, Fy, Fz and three directional torque Tx, Ty, Tz, was attached to the developed rehabilitation robot and allows the rehabilitation robot to measure a rotational force (Tz) exerted on a wrist, the signal force Fx, Fy, Fz and torque Tx, Ty which in turn allows the device to be used safely. The robot was designed and manufactured for severe stroke patients lying in bed, and a robot program was manufactured to perform a wrist rotation flexibility rehabilitation exercise. The results of a characteristics test for the developed rehabilitation robot showed that it was safely operated while the wrist rotation flexibility rehabilitation exercise was performed. Therefore, it is thought that the developed rehabilitation robot can be safely used with severe stroke patients.