Design and implementation of a mechatronic device for wrist and elbow rehabilitation

This paper presents a compact, portable and modular mechatronic device, which can be used for wrist and elbow rehabilitation in a user-friendly manner. Portability, modularity, compactness & degree of freedom are the main concerns of the device. Applied postoperatively, this device may be used on an inpatient or an outpatient basis. The designed device can be used for different exercises of wrist and elbow just by simply plugging in or out some of the links or by adjusting the position of some of the links. In addition, instead of going with the usual approach of using different actuators for different degrees of freedom, a single actuator is used in this project. By adjusting the links position, the patient can perform different exercises. The therapist or the patient will then select appropriate settings to run different exercises.