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Analysis of Hand-Forearm-Arm in the Design of the Manipulator for Rehabilitation

Węsierski Ł. N., Tutak J. S.

Machine Dynamics Research

2012

Vol. 36, No. 2

106-110

The article presents the design of the manipulator for upper limb rehabilitation. The project entails the development and execution devices for people with neurological or orthopedic injuries. Innovative way of thinking of this device is the possibility to perform the entire upper limb (arm, forearm and hand) rehabilitation with particular emphasis on spastic hand. The first part of this article presents an analysis of hand-forearm-arm to take account of the anatomy and rehabilitation, which formed a solid foundation for the development of the manipulator. This information allowed us to develop three concepts of devices, which fulfill established requirements. In particularly, this article focuses on the aspect of modeling/analysis of biomechanical systems, patient relationship – physiotherapist - manipulator. In addition, the project entails the development of controls.