Existing Devices in Wrist Rehabilitation Robotics: Mechanical Design, Control Systems, and User Requirements for Commercialization

Recently, rehabilitation robotics has demonstrated the ability to improve the methodologies significantly. Robotic devices can provide accuracy, repeatability, high-dose and task-specific training, and real-time feedback. These features are essential in rehabilitation, focusing on the upper limb and the wrist, as a joint needed to perform most activities of daily living (ADLs) and thus crucial to maintaining a high quality of life. This is particularly important considering the demand for effective rehabilitation solutions due to frequent motor impairments related to neurological or orthopedic issues. This review focuses on robotic devices for wrist rehabilitation, exploring their characteristics with an eye toward significant and appealing features for commercialization. We explored relevant features of these devices such as a robust and human-centered mechanical design, an appropriate actuation system, and an advanced sensor network integrated with a sophisticated control architecture to monitor and optimize human-machine interactions. We considered usability factors as ergonomics, ease of use, and adaptability to the needs of different users, for clinical applications and broad market adoption. This work reviews existing robotic devices for wrist rehabilitation, comparing their key features to evaluate the current state of the field. It aims to identify which devices best meet the necessary criteria and highlight issues that still require further engineering research.