Biomechanical and Control Design of a Prototype for Muscular Re-Training of a Forearm and a Wrist

In this chapter, the design and control of a forearm and wrist re-trainer machine is reported. This equipment was designed using the anthropometric standards of Mexican individuals, who are in the range between 18 and 65 years old. The main objective of this retraining device is to recover the muscular residual capacity of individuals, who have suffered a disability in the forearm and/or the wrist after an accident or as result of a genetic heritage. Quality Function Deployment was used in order to fulfill the requirements of patients, therapists and orthopedists. The logic of control was developed considering a user interface and the workflow programing. The analysis of the performance of the first prototype suggested the improvement of the three areas: the mechanism, the control system and acquisition system. The mechanical virtual design and the Human Machine Interface (HMI) of the prototype were approved by the Institute of Health of the State of Mexico. A final evaluation of the medical regulatory body is awaited.