Articles | Volume 10, issue 1
https://doi.org/10.5194/ms-10-107-2019
https://doi.org/10.5194/ms-10-107-2019
Research article
 | 
13 Mar 2019
Research article |  | 13 Mar 2019

Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation

Mehmet Erkan Kütük, Lale Canan Dülger, and Memik Taylan Daş

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Experiment and Best Practice
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Cited articles

Allington, J., Spencer, S. J., Klein, J., Buell, M., Reinkensmeyer, D. J., and Bobrow, J.: Supinator Extender (Sue): A pneumatically actuated robot for forearm/wrist rehabilitation after stroke, in: Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA, 30 August–3 September 2011, https://doi.org/10.1109/IEMBS.2011.6090459, 2011. 
Almusawi R. J., Dülger L. C., and Kapucu S.: A new neural network approach in solving inverse kinematics of robotic arm (Denso VP6242), Comput. Intel Neurosc., 2016, 5720163, https://doi.org/10.1155/2016/5720163, 2016. 
Bayona, N., Bitensky, J., Salter, K., and Teasell, R.: The role of task-specific training in rehabilitation therapies, Top. Stroke Rehabil., 12, 58–65, https://doi.org/10.1310/BQM5-6YGB-MVJ5-WVCR, 2005. 
Beekhuis, J. H., Westerveld, A. J., Van der Kooij, H., and Stienen, A. H. A.: Design of a self-aligning 3-Dof actuated exoskeleton for diagnosis and training of wrist and forearm after stroke, in: IEEE 13th International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, USA, 24–26 June 2013, https://doi.org/10.1109/ICORR.2013.6650357, 2013. 
Bonita, R. and Beaglehole, R.: Recovery of motor function after stroke, Stroke, 19, 1497–1500, https://doi.org/10.1161/01.STR.19.12.1497, 1988. 
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Short summary
This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used in exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process.