Robot-assisted physical therapy of the upper limb is becoming popular among the rehabilitation community. The wrist is the second most complicated joint in the upper limb after shoulder in terms of degrees of freedom. Several robotic devices have been developed during the past three decades for wrist joint rehabilitation. Intensive physical therapy and repetitive self-practice, with objective measurement of performance, could be provided by using these wrist rehabilitation robots at a low cost. There has been an increasing trend in the development of wrist rehabilitation robots to provide safe and customized therapy according to the disability level of patients. The mechanical design and control paradigms are two active fields of research undergoing rapid developments in the field of robot-assisted wrist rehabilitation. The mechanical design of these robots could be divided into the categories of end-effector based robots and wearable robotic orthoses. The control for these wrist rehabilitation robots could also be divided into the conventional trajectory tracking control mode and the assist-as-needed control mode for providing customized robotic assistance. This article presents a review of the mechanical design and control aspects of wrist rehabilitation robots. Experimental evaluations of these robots with healthy and neurologically impaired are also discussed along with the future directions of research in the design and control domains of wrist rehabilitation robots.

中文翻译：

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最先进的手腕康复机器人设备：设计和控制方面


机器人辅助上肢物理治疗在康复界越来越流行。就自由度而言，手腕是上肢中仅次于肩部的第二个最复杂的关节。在过去的三十年中，已经开发了多种用于腕关节康复的机器人设备。使用这些腕部康复机器人可以以低成本提供密集的物理治疗和重复的自我练习，并客观地测量表现。腕部康复机器人的发展趋势越来越明显，以根据患者的残疾程度提供安全和定制的治疗。机械设计和控制范式是机器人辅助腕部康复领域正在快速发展的两个活跃的研究领域。这些机器人的机械设计可分为基于末端执行器的机器人和可穿戴机器人矫形器两类。这些腕部康复机器人的控制也可以分为传统的轨迹跟踪控制模式和提供定制机器人辅助的按需辅助控制模式。本文对腕部康复机器人的机械设计和控制方面进行了综述。还讨论了对健康和神经受损机器人的实验评估，以及腕部康复机器人设计和控制领域的未来研究方向。