A novel wrist rehabilitation exoskeleton using 3D-printed multi-segment mechanism

Area of Science:

• Rehabilitation Engineering
• Biomedical Devices
• Robotics

Background:

• Stroke is a leading cause of hemiplegia, significantly impacting patients' quality of life and mobility.
• Existing wrist rehabilitation devices often suffer from heavy weight and imprecise motion control, limiting their clinical utility.
• Effective wrist rehabilitation is crucial for restoring function and independence after stroke.

Purpose of the Study:

• To develop and evaluate a novel 3D-printed multi-segment exoskeleton robot for wrist rehabilitation.
• To address the limitations of current devices, focusing on reduced weight, enhanced motion control, and cost-effectiveness.
• To enable stable, three-degree-of-freedom wrist rehabilitation training for stroke survivors.

Main Methods:

• Design and fabrication of a 3D-printed multi-segment mechanism for wrist exoskeleton actuation.
• Implementation of controlled motion trajectories for three degrees of freedom wrist movement.
• Performance evaluation through bearing force, rehabilitation trajectory, and range of motion tests.

Main Results:

• The developed exoskeleton demonstrated sufficient force and torque for effective rehabilitation.
• Achieved a larger range of motion with comparable motor displacement, resulting in a more compact and lighter design.
• Validated controlled and stable motion trajectories, indicating high applicability for clinical use.
• The device is more cost-effective compared to existing solutions.

Conclusions:

• The 3D-printed wrist rehabilitation exoskeleton offers a promising solution for stroke recovery.
• Its compact, lightweight, and cost-effective design, coupled with stable and controlled motion, enhances applicability in human rehabilitation.
• This device can provide patients with effective and accessible wrist rehabilitation training, improving outcomes for hemiplegia.