The system is a rehabilitation robot that is used for physiotherapy in the area of the toes, wrists and fingers. There are several factors and diseases such as stroke, MS, etc. that affect the function of this upper limb and as a result, the forearm area suffers from motor stiffness (spasticity). Studies have shown that repeated and regular physical therapy exercises have a significant effect on the healing process of the toe area. In other words, physiotherapy of the wrist and fingers plays an important role in restoring lost abilities. This system consists of two main parts, motor-control and movement arm. The physiotherapist first places the patient’s hand in the holding system.
This section includes the base section and gloves. The basic part is fixed and designed in such a way that according to forearm anthropometry, it is the average person in the community. Then the first two straps of the patient’s fingers are placed inside the glove and the glove is attached to the moving arm. Because the combined movement of the wrist and fingers is a combination of linear and rotational movements, the movement arm requires two degrees of simultaneous freedom. Accordingly, the arm is designed to have two degrees of freedom (one degree of active rotational motion and one degree of adaptive linear motion).
After completely restraining the patient’s fingers and forearms in the robot, the physiotherapist can easily communicate with the robot with the help of the created software and create different treatment methods for the patient’s hand according to the patient’s needs. This treatment method includes 4 categories of active, inactive, resistance active and auxiliary active and according to the degree of the disease (severity of spasticity) as well as the degree of improvement of the disease according to the physiotherapist, the treatment method is selected. One of the advantages of this robot is that it can create accurate physiological exercises with regular repetition. In addition to reducing the cost of treatment, the physiotherapist’s physical activity and fatigue will be reduced.