Geometric Design and Prototyping of a (2-RRU)-URR Parallel Mechanism for Thumb Rehabilitation Therapy

In this paper, the geometrical design of a (2-RRU)-URR (where R and U stand for revolute universal joints, respectively) parallel mechanism was demonstrated thumb rehabilitation therapy. This paper consists two parts: procedure development device user experiment with prototype. Because hand generally has limited working area, attachment parts placement actuators requires careful consideration various factors. Along kinematic requirements device, interaction between fingers must be considered. The proposed three placed in attachment. When is attached to hand, there possibility collisions mechanism. Two candidates were devised while considering area need avoid collisions. Due dependency workspace on actuators, comparison candidate designs target carried out. determined through use trajectory measurement data. A prototype manufactured using 3D printed plastic aluminum materials. To confirm practical performance prototype, experiments conducted which data controlled each person done. Motion directions, specifically, adduction–abduction flexion–extension performed. results showed that closely matched trajectory. Finally, experimental are discussed.