Design and Performance Evaluation of a Parallel Wrist Exoskeleton for Home-based Rehabilitation

The application of wrist exoskeletons in the rehabilitation of stroke and hand dysfunction is becoming increasingly widespread, as they can assist patients in undergoing high-intensity, repetitive, targeted and interactive rehabilitation training. However, the existing wrist exoskeletons cannot effectively conform to the structure of the human wrist and cannot cover the entire physiological movement space. Here, we present a the wrist exoskeleton based on the 6-UCU Stewart for Home-based rehabilitation by analyzing the physiological structure of the human wrist. We conducted simulation experiments on forward kinematics and reverse kinematics for it. The parallel wrist exoskeleton can effectively achieve three wrist movements, flexio n/ extensio n(F /E), radial/ulnar devia tio n(R/U) pronation/supination (P/S) and angles are -80°-80°, -30°-30°, -60°-60° respectively.