Design and Control of a New Wrist Rehabilitation Robot

Simona-Daiana Stiole, Pusca Alexandru, Paul Tucan, Iuliu Nadas, Vasile Bulbucan, Andrei Cailean, Dragos Sebeni, Alexandru Banica, Daniela Jucan, Radu Morariu, Calin Vaida, Petru Dobra, Jose Machado, Jose Machado, Doina Pisla, Doina Pisla

2025

Abstract

This paper presents the design and control of a cost-effective wrist rehabilitation robot with the aim of providing an accessible and scalable solution for patients in need of upper-limb motor recovery. The primary goal is to create a compact system that can support repetitive and controlled wrist movements, particularly for individuals recovering from stroke. The robot’s mechanical structure, forward kinematic model and dynamic model were defined to minimize cost without compromising essential therapeutic functionality. Three control strategies were implemented and evaluated in simulation, including Independent Joint Control, Linear Quadratic Regulator, and an observer-based version using a Luenberger estimator for situations where only position sensors are available. These simulations serve to assess the feasibility of each control method in terms of performance, complexity, and compatibility with low-cost components for future hardware development.

Paper Citation

in Harvard Style

Stiole S., Alexandru P., Tucan P., Nadas I., Bulbucan V., Cailean A., Sebeni D., Banica A., Jucan D., Morariu R., Vaida C., Dobra P., Machado J. and Pisla D. (2025). Design and Control of a New Wrist Rehabilitation Robot. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 219-226. DOI: 10.5220/0013700400003982

in Bibtex Style

@conference{icinco25,
author={Simona-Daiana Stiole and Pusca Alexandru and Paul Tucan and Iuliu Nadas and Vasile Bulbucan and Andrei Cailean and Dragos Sebeni and Alexandru Banica and Daniela Jucan and Radu Morariu and Calin Vaida and Petru Dobra and Jose Machado and Doina Pisla},
title={Design and Control of a New Wrist Rehabilitation Robot},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={219-226},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013700400003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Design and Control of a New Wrist Rehabilitation Robot
SN - 978-989-758-770-2
AU - Stiole S.
AU - Alexandru P.
AU - Tucan P.
AU - Nadas I.
AU - Bulbucan V.
AU - Cailean A.
AU - Sebeni D.
AU - Banica A.
AU - Jucan D.
AU - Morariu R.
AU - Vaida C.
AU - Dobra P.
AU - Machado J.
AU - Pisla D.
PY - 2025
SP - 219
EP - 226
DO - 10.5220/0013700400003982
PB - SciTePress