Computer Controlled Rotational MR-brake for Wrist Rehabilitation Device

This aricle presents a novel, computer controlled, magneto-rheological (MR) brake actuated, muscular rehabilitation, and evaluation device. The first part discusses various MR brake architectures and compares them. Simple analytical formulae are developed for a set of figures of merit, which point out the role played by the various parameters. Based on this analysis, a prototype with a T-shaped rotor has been designed, built and integrated into a portable rehabilitation device. In the second part of the article, the various exercise modes of the device and its control are described. Finally, results validating the performances of the device for the pronation/supination motion of the wrist are shown.