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In the paper, the problems of devices supporting functional rehabilitation of a human wrist were addressed. A literature review and a description of selected devices together with an indication of their advantages and disadvantages were conducted. The biomechanical structure of a human wrist was analyzed. On this basis and after taking into consideration ranges of motion of the selected joints the concept of a new mechanism was developed. A 3D model of the device was built in the Autodesk Inventor system. For the purpose of simulations another model was developed in the MSC Adams system. Issues of drives and sensors selection, as well as requirements for the control system, were examined.

This article is devoted to the novel method of upper limb rehabilitation support using a dedicated mechatronic system. The mechatronic rehabilitation system’s main advantages are the repeatability of the process and the ability to measure key features and the progress of the therapy. In addition, the assisted therapy standard is the same for each patient. The new method proposed in this article is based on the prediction of the patient’s intentions, understood as the intentions to perform a movement that would be not normally possible due to the patient’s limited motor functions. Determining those intentions is realized based on a comparative analysis of measured kinematic (range of motion, angular velocities, and accelerations) and dynamic parameter values, as well as external loads resulting from the interaction of patients. Appropriate procedures were implemented in the control system, for which verification was conducted via experiments. The aim of the research in the article was to examine whether it is possible to sense the movement intentions of a patient during exercises, using only measured load parameters and kinematic parameters of the movement. In this study, the construction of a mechatronic system prototype equipped with sensory grip to measure the external loads, control algorithms, and the description of experimental studies were presented. The experimental studies of the mechanism were aimed at the verification of the proper operation of the system and were not a clinical trial.

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