1. Dr Norafizah binti Abas is researching four rehabilitation devices: a wrist rehabilitation device, REAT Cybernatics hand, exoskeleton hand device, and rehabilitation assessment device. 2. The wrist rehabilitation device has 2 degrees of freedom and covers four wrist movements. The REAT hand has 10 degrees of freedom in the fingers and 1 in the wrist, and is controlled by EMG signals. 3. The exoskeleton hand device consists of 15 degrees of freedom across the fingers and wrist to closely mimic hand movements. The rehabilitation assessment device collects data from EMG sensors, a dynamometer, and angle measurements to evaluate rehabilitation progress online.

1. 29th December 2021
Development of Rehabilitation Assessment
Devices
By Dr Norafizah binti Abas, Mechatronics, FKE

2. Research projects
1. Wrist Rehabilitation Device
2. REAT Cybernatics Hand
3. Exoskeleton Hand Device
4. Rehabilitation Assessment Device

3. • The Wrist Rehabilitation Device:
• Composed of 2 DOF dexterous designed wrist, with range of motion between 0 to 45 degree for each
movements.
• Covers 4 basic wrist movements: adduction, abduction, flexion and extension.
• All the joints are driven by mechanical linkages and motors
• Interface with microcontroller that determined the sequence of exercises accordingly.
Wrist Rehabilitation Device

4. The REAT-hand has the human-like size with performance of grasping
different shapes firmly.
• Composed of five fingers with total 10 DOFs, & 1 DOF for a dexterous designed wrist.
• All the joints of the fingers are driven by mechanical linkages with linear motors built
into the palms.
• Interface with electronic conditioning circuit to measure and amplify the EMG signals
extracted from hand grasping at different wrist angle.
• EMG signal extracted is used as the primary controller for the hand.
REAT Cybernatics Hand
REAT-Hand: Analysis and system testing

5. • The design of Exoskeleton Hand Device:
• Consists of five fingers attached to a palm that is connected to a wrist
with a proper choice of DOF; total 15 DOF with 14 DOF at the fingers and
1 DOF at the wrist joint.
• The bony segments of the human hand are closely followed in
designing the exoskeleton, with exceptions in the palm and the wrist. All
the joints are driven by mechanical linkages and motors
• The design of index, middle, ring and pinky fingers contain three
intercalated body segments: proximal, middle and distal phalanges,
while the thumb contains only two intercalated body segments: proximal
and distal phalanges.
Design of Exoskeleton Hand Device
The exoskeleton fingers: (a) Design for the index,
middle, ring and little fingers, (b) Design for the
thumb
(a) (b)

6. • The EMG-based assessment device for rehabilitation
monitoring:
• Consists of multimodal sensor fusions; EMG detection circuit, self-
made hand dynamometer and angle measurement systems.
• The sensor fusions are mapped with the assessment score-chart and
interfaced with IoT Technology
• The data collected together with assessment evaluation are stored in
cloud and accessible online by therapist/doctors etc.
Rehabilitation Assessment Device