Design, Development, and Control of a Hand/Wrist Exoskeleton for Rehabilitation and Training

Robotic devices for rehabilitation and training is a promising and challenging research topic with a potentially huge social impact. The availability of tools for autonomously perform- ing physiotherapy exercises increases their efficiency, provides supplementary information about results and progress, reduces physiotherapists’ efforts and the need of their physical presence during exercise sessions, and encourages autonomy and indepen- dence in people with disabilities. Nevertheless, supportive technolo- gies developed without the inputs and feedback of the end-user throughout the design process are less likely to be adopted for their intendedpurposeandusecase.Inthisarticle,weproposeamodular hand/wristexoskeletonthatactuatesthewristflexion/extensionand adduction/abduction motions and hand fingers flexion/extension motions. It is designed to be wearable and easy to control and manage and can be used by the patient in collaboration with the physiotherapist or autonomously. A user-centered design perspec- tive has been employed in all the design and development phases. This article introduces the main features of the device and presents some tests conducted with a user having limited hand and wrist mobility.