Movement control of active/passive exercisers

The anatomical structure and biomechanics of the upper limb are presented in the first part of the paper. Several diseases and injuries specific to upper limb that conduct to a rehabilitation treatment are emphasized. The physical therapy promotes motion as a basic element of rehabilitation. This kind of rehabilitation therapies are based on movement and/or forces exercises usually performed under the supervision of a professional, frequently using various exercisers. Two different rehabilitation systems are described. The first one is an electrical actuated, wearable wrist exerciser. Its role is regaining the wrist joint’s functions, enhance strength of muscles and stability, and improve the firmness and flexibleness of the muscles and ligaments in safe operation during the performed exercises. The second one permits a large variety of active or passive exercises, aiming the rehabilitation of the shoulder, elbow and wrists articulations as well as regaining the movement capacity and patient’s motor skills. It includes a stationary one degree of freedom mechanism, pneumatically actuated. Aspects concerning the design, modelling, simulation and interfacing of both systems are given.