Design of Wrist Rehabilitation Exoskeleton Device with Magnetic Serial Elastic Actuator

In this study, axial magnetic coupling is employed as an elastic body to develop a serial elastic actuator for the development of a wrist exoskeleton rehabilitation robot that can control strength and stiffness in real time. With the design of dual driving degrees of freedom, four wrist movements, namely flexion, extension, radial deviation, and ulnar deviation, can be performed. In addition to achieving control of the output force, the proposed method can be used to quantify and evaluate patient's recovery status for more precise automated medical rehabilitation.