Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation

This paper presents a preliminary design of a wearable hybrid (parallel-serial) robot for wrist and forearm rehabilitation. The proposed robot design includes novel mechanisms (RRPP and RRRR) for joint misalignment compensation. The prototype of the wearable rehabilitation robot has been manufactured by 3D printing and tested. From the evaluation of the design, the proposed robot is able to assist rotation of the wrist and forearm for rehabilitation. With the features of lightweight, portable and safer design, we expect the proposed wearable robot is suitable for in-home rehabilitation.