The Mechatronic Device for the Hand and Forearm Rehabilitation

  • Jacek S. TutakEmail author
  • Wojciech Kłos
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 548)


The mechatronic device has been designed and implemented based on the comprehensive rehabilitation of the paretic upper limb. This system has been prepared for an individual approach to the recovery process including diagnostics, passive or active exercises with biofeedback and reports. The mechatronic device consists of a three basic cooperating parts: mechatronic frame with module for hand and forearm rehabilitation, glove for the hand rehabilitation and module for health hand. This mechatronic device was developed in order to realize a passive exercises and active exercises with paralysed limb using the healthy limb to conduct these exercises. A very important part of rehabilitation is to introduce biofeedback (e.g. visual and auditory) to motion exercises. This paper presents the main technical characteristics of the project, especially design, kinematics and dynamics of the device and the details of the hardware/software system. This paper suggests a new approach to the rehabilitation device for the spastic upper limb of stroke survivors. The functionality of the mechatronic device for hand and forearm rehabilitation have been presented during the first tests, and preliminary assessment of usability and acceptance is promising.


Rehabilitation device Hardware and software system Biofeedback 



The innovative features and the unconventional way of running exercises with the presented device is further proven by the fact that a patent application No P.419380 and P. 419381 for this device to rehabilitate one’s physical and learning abilities has been filed.

This work was supported in part the Vice-Rector for Research the Rzeszow University of Technology (DS/M.MA.17.001).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and RoboticsRzeszow University of TechnologyRzeszowPoland

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