Research and Control of Wearable Robot for Wrist Rehabilitation

The article presents a rehabilitation robot for wrist movement. The robot is designed to move the wrist in all directions - flexion-extension and radial-lunar. The mechanical construction of the robot, its hardware, software and control systems are presented. The kinematic equations for control of the final unit are described. Based on the study of the kinematic movements of the wrist, a control method is created. After simulation experiments, the obtained result of the robot's work is presented, where it can be seen that the robot successfully performs movements close to those of the natural wrist.