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This paper reports the conceptual design and simulation of a low-cost wrist rehabilitator prototype. It is based on the Mexican phenotype. The movements of a healthy wrist are replicated. It is semi-automatic with two degrees of freedom. Flexion extension is within the range between 0° and 115°, and abduction-adduction is in a range between − 18° and 60°. The active movements of the wrist are reproduced. A user interface records the motion and speed parameters of the joint. The control algorithm, that regulates the movements of the prototype, was implemented in a low-cost ESP32 microcontroller through Arduino IDE code. In addition, it can generate circumduction movement. A data recording system collects and displays the working space following the kinematics of the movements generated for rehabilitation.

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Design of a Rehabilitation System for a Wrist According to the Mexican Phenotype

  • 章节

  • 发表日期：

    2026年

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  • Mauricio Aarón Pérez-Romero,
  • Alejandra Armenta-Molina,
  • Adrián Esteban Mejía-García,
  • Monica Montserrath Valdez-Mata

摘要

This paper reports the conceptual design and simulation of a low-cost wrist rehabilitator prototype. It is based on the Mexican phenotype. The movements of a healthy wrist are replicated. It is semi-automatic with two degrees of freedom. Flexion extension is within the range between 0° and 115°, and abduction-adduction is in a range between − 18° and 60°. The active movements of the wrist are reproduced. A user interface records the motion and speed parameters of the joint. The control algorithm, that regulates the movements of the prototype, was implemented in a low-cost ESP32 microcontroller through Arduino IDE code. In addition, it can generate circumduction movement. A data recording system collects and displays the working space following the kinematics of the movements generated for rehabilitation.