ArticleScientific reports2025
Design and development of a modular wrist rehabilitation robot with impedance control and gravity compensation.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed.
- Design and Preliminary Phantom Study of a 3D-Printed Wrist Immobilization Device for Lateral Radiography.Diagnostics (Basel, Switzerland) · 2026Article
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Authors and funding
4 authors.
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No grant is acknowledged in the PubMed record.
Abstract
The number of stroke patients is steadily increasing, highlighting the critical need for rehabilitation to restore motor function. The shortage of rehabilitation specialists and the repetitive nature of traditional exercises underscore the advantages of robotic systems. However, many existing rehabilitation robots are not adaptable to various therapeutic requirements. Modular robots, with their reconfigurability and ease of assembly, provide a practical solution. This study presents the design and development of a modular wrist rehabilitation robot, consisting of three identical modules that provide the necessary degrees of freedom for wrist movement. The modular structure allows for easy assembly, adjustment for different hand sizes, and adaptability to various configurations. To improve control performance, an impedance control strategy was implemented along with a gravity compensation method. Simulation results show that impedance control alone resulted in an RMS error of approximately 7 degrees, while adding gravity compensation reduced the maximum error to 0.79 degrees. The proposed controller was implemented on the robot and validated through experimental tests with individuals. The results confirmed that impedance control effectively facilitates interaction between the robot and the user, demonstrating the system's potential for improving rehabilitation outcomes.
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