This article proposes a novel device for wrist motion rehabilitation. The proposed mechatronic architecture is based on a simple user-friendly design, which includes a mobile platform for hand support, which is operated by a single actuator. A dedicated assist-as-needed control is designed to operate the device for the required movements. The proposed control strategy is also integrated into a gaming software for stimulating the exercising by means of various interactions with patients. Experimental tests are carried out with 14 healthy subjects at the Physiotherapy Clinical Hospital of the Federal University of Uberlandia. Also, three patients with stroke have been enrolled in a pilot clinical testing. Each of the patients has been involved in four sessions per month with 15 min of assisted treatment. Results of experimental tests are analyzed in terms of improvements and amplitude gains for the flexion and extension wrist movements. Experimental results are reported as evidence for the feasibility and soundness of the proposed device as a tool to assist professionals in procedures of wrist rehabilitation.

中文翻译：

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一种用于训练人类手腕运动的相当简单的机电设备

本文提出了一种用于腕部运动康复的新型设备。所提出的机电一体化架构基于简单的用户友好设计，其中包括一个用于手部支撑的移动平台，该平台由单个执行器操作。专用的按需辅助控制旨在操作设备进行所需的运动。所提出的控制策略还集成到游戏软件中，通过与患者的各种互动来刺激锻炼。在 Uberlandia 联邦大学物理治疗临床医院对 14 名健康受试者进行了实验测试。此外，三名中风患者已参加试点临床测试。每个患者每月参与四次治疗，辅助治疗时间为 15 分钟。根据屈伸腕部运动的改进和振幅增益分析了实验测试的结果。实验结果被报告为所提议的设备作为协助专业人员进行腕部康复程序的工具的可行性和健全性的证据。