Reconfigurable wrist and forearm therapy system

The goal of this project is to build a reconfigurable therapy system (modular system) that can be used in home rehabilitation. This modularity allows the system to use minimal actuators for different tasks. As an example, the system can perform different exercises by changing the end effector. As can be seen in the figure, this home rehab robot will consist of two parts. The first part is the home side, through which the patient can perform the tasks with the doctor's commands. According to the improvement of the patient, the doctor defines new exercises for the patient. The mechanism for the patient part has been designed and the optimization and construction of it is in progress. Also, the robot for the doctor part is to be designed and constructed. The project is an interdisciplinary project with a focus on robotics. This project provides the opportunity to learn about different fields such as mechanical engineering, control, medicine and physiology.


To fulfill the requirements of the project, it demands innovative solutions in different technological domains. The development is therefore structured into six main sub-functions, to help the project to an effective outcome. 


The sub-function of ...

Mechanism Design includes all measurement tasks (Forces, Range of movements, Forces, and etc) and optimization of the system. The biggest challenge is to find the best solution to provide each tasks. For this purpose the first design for the patient part is done and its construction is in process

.Control includes the design of a controlling system which satisfies the requirements of the system

Haptic enables the system to make a communication between patient and physician to improve the trainings according to the development of patient.

AI and Machine learning make the opportunity to self defining the trainings without any help of physician. By using this system, an autonomous system could be used by patients and they can record their data for more analysis.

Impedance Measurement provides a field to measure the progress of each patient and design a better approach for the treatment. 

Sensor and Actuator Design considers new materials, designs, and hardwares to reach the best compatibility between system and patients body.