Wrist injuries are a very common type of pathology that can compromise most daily
tasks. Conventional therapy is dependent on the availability of physiotherapists as well as devices
designed for this purpose. Conventional devices do not accompany the patient throughout their
rehabilitation process, requiring their constant replacement. Vibratory therapies emerged in recent
years and have demonstrated several benefits in this area. However, there are few vibratory
devices designed for wrist rehabilitation. In this paper, we propose two different portable and
active models for wrist rehabilitation based on vibratory therapy for wrist rehabilitation. The first
model has a cylindrical shape and the second model has a dumbbell shape. The results obtained
showed that vibratory therapy can assist the wrist rehabilitation because it promoted
improvements in joint amplitude gain in all wrist movements. Furthermore, the second device
demonstrated higher joint gains than the first device. In addition, the results obtained from the
measurement of accelerations demonstrate that the natural frequencies of both devices are
adequate for wrist and forearm rehabilitation as well as the mode of vibration. There are
differences between what the simulations predicted and what was obtained in practice in terms of
natural frequency values.

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