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

Wrist rehabilitation exoskeleton can effectively assist wrist recovery from stroke. However, current wrist rehabilitation devices have shortcomings such as heavy weight, uncertain motion trajectory, etc. This paper proposes a wrist rehabilitation robot driven by 3D-printed multi-segment mechanism to realize wrist rehabilitation in three degrees of freedom. We conducted three tests including bearing force, rehabilitation trajectory, range of motion tests. The results prove this exoskeleton can provide enough force and torque, and it can achieve larger range of motion within the same motor displacement, that makes it more compact and lighter in hardware and less expensive in cost. Moreover, its motion trajectory can be controlled and stable, that makes it more applicable for real application in human rehabilitation.Clinical Relevance— Stroke is the leading cause of hemiplegia, and this symptom usually degrades patients’ living standard and flexibility. This device can offer patients stable wrist rehabilitation training in three degrees of freedom with compact and lightweight characteristics.