Kinematic validation of a wrist training robotic device

Abstract

The wrist joint plays a crucial role in daily activities, but various conditions can compromise its functionality, impacting an individual’s quality of life. Robot-assisted therapy is emerging as a promising solution for rehabilitation, aiming to enhance human motor skills training through personalized therapies and precise movement measurements. Herein, a study was conducted, thereby validating the BiomechWrist, a robotic device designed for wrist rehab and motor-skills training. Data was obtained from a motion capture system and the device’s encoders. A methodology, based on kinematics of rigid bodies, was used to compute the active range of movement (AROM) for the three degrees of freedom of the wrist. The decrease in AROM computed for the device was lower than 10% for all of the degrees of freedom. The accuracy of the device in the measurement of the angles was also assessed, resulting in an deviation lower than 10%, a deviation which is adequate for the target applications. The conducted tests suggest that the device meets the functional acceptability criteria while providing effective assistance to facilitate patient recovery. The outcomes highlight the advantages of the wrist training device as a complementary tool in the rehabilitation process for both patients and healthcare professionals.