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Robot-aided rehabilitation is increasingly important to meet the challenges posed by an ageing population and a global shortage of healthcare workers. This paper presents a 3RS (3 Revolute Joints - 1 Spherical Joint) end-effector robot for wrist joint rehabilitation and daily activity assistance. It assists flexion/extension and radial/ulnar deviation avoiding the problem of joint misalignment typical of exoskeletons and covering the workspace of the hand. The design parameters are tuned to ensure high dexterity and safe user interaction, laying a solid foundation for the development of a functional prototype.

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Functional Design and Kinematic Analysis of a Novel 3RS End-Effector Robot for Wrist Rehabilitation and Assistance

  • 会议论文

  • 发表日期：

    2025年

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  • Andrea Botta,
  • Luigi Tagliavini,
  • Giovanni Colucci,
  • Lorenzo Baglieri,
  • Simone Duretto,
  • Lorenzo Toccaceli,
  • Francesco Amodio,
  • Giuseppe Quaglia

摘要

Robot-aided rehabilitation is increasingly important to meet the challenges posed by an ageing population and a global shortage of healthcare workers. This paper presents a 3RS (3 Revolute Joints - 1 Spherical Joint) end-effector robot for wrist joint rehabilitation and daily activity assistance. It assists flexion/extension and radial/ulnar deviation avoiding the problem of joint misalignment typical of exoskeletons and covering the workspace of the hand. The design parameters are tuned to ensure high dexterity and safe user interaction, laying a solid foundation for the development of a functional prototype.