Simplified design of a device for wrist rehabilitation

It is well known that from body articulations, the wrist one possesses the highest injury index, because it is the most employed in quotidian (repetitive) activities. This research proposes a novel two-degrees of freedom device a for wrist rehabilitation, aimed to improve function and mobility of affected wrist. In order to accurately reproduce wrist articulation movements (adduction-abduction, flexion-extension and rotation), the device is endowed with just one servomotor and a robust control algorithm, which is implemented through an Arduino UNO embedded system. Novelties of this device are its easiness of building, its cheapness, its portable compact design, as well as the intuitiveness of providing therapy through it.