Design and fabrication of a robot for neurorehabilitation; Smart RoboWrist

摘要

In this paper design and fabrication of a wrist exoskeleton robot (ROBOWRIST) has been discussed. The robot has 3 degree of freedom, including flexion/extension, abduction/ adduction and pronation/supination based on the anatomical axis of the body. Four stepper motors are responsible for creating the motion. The exoskeleton can be used for neurorehabilitation and also post-surgery of wrist and forearm. Various therapeutic procedures with a precise tracking can be handled using the control algorithms. Each motor has a separate encoder to measure the angular position and send feedback to the controller. The design goal is to construct a reliable robot that is robust and applicable for clinical tests.