Preliminary Design and Finite Element Analysis of a Low-Cost Wrist Rehabilitation Robot

Abstract

Wrist rehabilitation robots are fundamental for helping patients with stroke or wrist injuries and also decrease the workload of physiotherapists. Though wrist rehabilitation robots are essential, recent wrist rehabilitation robots have shortcomings such as heavy weight, immobility, costliness, etc. To remedy these shortcomings, in this study, we developed and produced a low-cost and mobile robotic device for these patients with partial paralysis. The device is designed to assist the patient to perform wrist exercises comfortably in the home environment without being dependent on rehabilitation centers and/or physiotherapists. Therefore, we offer the device driven by a 3D-printed mechanism in two degrees of freedom. In addition, we analyzed and simulate the robot via finite element analysis and Solidworks respectively. The results indicate the robot provides enough force, torque, and range of motion. For these reasons, the robot can be used as a compact and lighter robot in hardware and a cheaper robot in cost. So it is feasible and affordable for real-time application in wrist rehabilitation.