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The paper presents the kinematic modelling of a 2 Degrees of Freedom (DOF) parallel robot for wrist rehabilitation. The parallel robot is capable of performing flexion-extension and radial-ulnar deviation of the wrist. The device can be used both for left and right wrist rehabilitation without requiring prolonged setup times. The current paper describes the kinematic modelling of the robot, workspaces and singularities followed by model validation using numerical and graphical simulation, providing a comprehensive overview of its capabilities and effectiveness in facilitating wrist rehabilitation.

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Kinematic Modelling and Design of a Parallel Robot for Wrist Rehabilitation

  • 会议论文

  • 发表日期：

    2025年

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  • Paul Tucan,
  • Alin Horsia,
  • Calin Vaida,
  • Iosif Birlescu,
  • Pisla Adrian,
  • Jose Machado,
  • Doina Pisla

摘要

The paper presents the kinematic modelling of a 2 Degrees of Freedom (DOF) parallel robot for wrist rehabilitation. The parallel robot is capable of performing flexion-extension and radial-ulnar deviation of the wrist. The device can be used both for left and right wrist rehabilitation without requiring prolonged setup times. The current paper describes the kinematic modelling of the robot, workspaces and singularities followed by model validation using numerical and graphical simulation, providing a comprehensive overview of its capabilities and effectiveness in facilitating wrist rehabilitation.