The present disclosure is related to a mechatronic system for passive-active mobilization by flexo-extension and abduction, fingers abduction as a joint exercise in physical rehabilitation therapies. The mechatronic system consists of a fixed base that holds the forearm, four crank-coupler-slide-type RRRT mechanisms reconfigurable to the size of the hand fingers; driven by rotational or linear actuators and located in the four flexo-extension planes covering from the index to the little finger and a digital programming and control system with a graphic interface. The reconfigurable RRRT mechanisms mobilize the proximal and distal metacarpophalangeal and interphalangeal joints, from the index to the little finger by guiding the distal end of each finger down the natural flexo-extension path safely, by preventing movement of the end of the fingers out of their working space. The mobilization exercises of the distal end of the fingers can be passive, by providing the mobilization force by means of the same mechanism; or active, if the user himself provides the force that produces the movement.
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