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The paper presents the inverse dynamics of WRIST-X, a medical robot designed for wrist rehabilitation. WRIST-X is an innovative rehabilitation robot that can adapt to various anthropometric characteristics of the human wrist. Its simple kinematics make it highly versatile and easily adaptable to different human-robot interaction modalities, ensuring personalized rehabilitation therapy. The inverse dynamic model of WRIST-X is formulated in a closed form using the principle of virtual work, which is correlated with the equivalent dynamic lump masses derived from the constructive virtual model. This approach enables precise dynamic analysis and control of the robot, ensuring smooth and effective rehabilitation exercises. To further validate the proposed inverse dynamic model, Siemens NX is used to conduct a comprehensive kinematic and dynamic simulation of WRIST-X. The simulation results are then compared with the theoretical data generated using the inverse dynamic model. The close agreement between the simulated and theoretical results confirms the accuracy of the proposed model, demonstrating its effectiveness in predicting the dynamic behavior of WRIST-X. This validation supports the feasibility of implementing the model in real-world rehabilitation scenarios, paving the way for further optimization and clinical application of the WRIST-X robot in assisting patients with wrist impairments.

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Inverse Dynamics Analysis and Simulation of an Innovative 3 DOF Wrist Rehabilitation Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Calin Vaida,
  • Paul Tucan,
  • Dragos Sebeni,
  • Oana Vanta,
  • Iosif Birlescu,
  • Bogdan Gherman,
  • Tiberiu Antal,
  • Doina Pisla

摘要

The paper presents the inverse dynamics of WRIST-X, a medical robot designed for wrist rehabilitation. WRIST-X is an innovative rehabilitation robot that can adapt to various anthropometric characteristics of the human wrist. Its simple kinematics make it highly versatile and easily adaptable to different human-robot interaction modalities, ensuring personalized rehabilitation therapy. The inverse dynamic model of WRIST-X is formulated in a closed form using the principle of virtual work, which is correlated with the equivalent dynamic lump masses derived from the constructive virtual model. This approach enables precise dynamic analysis and control of the robot, ensuring smooth and effective rehabilitation exercises. To further validate the proposed inverse dynamic model, Siemens NX is used to conduct a comprehensive kinematic and dynamic simulation of WRIST-X. The simulation results are then compared with the theoretical data generated using the inverse dynamic model. The close agreement between the simulated and theoretical results confirms the accuracy of the proposed model, demonstrating its effectiveness in predicting the dynamic behavior of WRIST-X. This validation supports the feasibility of implementing the model in real-world rehabilitation scenarios, paving the way for further optimization and clinical application of the WRIST-X robot in assisting patients with wrist impairments.