RehaWrist.q - Development of a 3 DoF Cable-Driven End-Effector Wearable Robot for Rehabilitation of the Wrist Joint

This paper proposes the development of a 3 DoF cable-driven end-effector robot for the rehabilitation of the wrist joint named RehaWrist.q. This device is wearable, small, and does not require external support. To properly size the assistive robot, a new index, called transmission index, was defined to derive the definition of the robot proportions. Then, an optimisation problem based on a quasi-static system was proposed to implement the force control required to safely use this device and to correctly size the actuation sub-system.