[Abstract] Modelling, design, and construction of a wrist rehabilitation exoskeleton – Full Text PDF

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This work presents the modelling, design, construction, and control of a wrist joint flexion/extension and abduction/adduction rehabilitation exoskeleton. The dynamic models of the wrist movements are obtained using Euler-Lagrange formulation and are built in Simulink of MATLAB in conjunction with a PID closed-loop control representing the human natural neuromusculoskeletal control. Simulations are carried out to estimate the joint torque required to produce the functional wrist movements in an average Colombian adult. The exoskeleton is designed in SolidWorks CAD software, built through 3D printing in polylactic acid (PLA), powered by two on-board servomotors, and controlled by an Arduino UNO board that establishes communication with an Android mobile app developed in MIT App Inventor for entering the rehabilitation therapy parameters. The result of this work is a lightweight exoskeleton with a total mass of 0.64 [kg] including servomotors, microcontroller, and batteries, with the ability to be used in telerehabilitation practices, guaranteeing angular displacement tracking errors under 10%. Index Terms-Arduino, control, Euler-Lagrange, MIT App Inventor, model, radiocarpal joint, rehabilitation robotics, Simulink, wearable robotics.

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