Evolution of the Mechanical Design of a Rehabilitation Robot in an Aquatic Environment

Abstract

Neurological disorders, such as stroke, multiple sclerosis, or severe neuropathies, drastically impact patient autonomy and quality of life. Although rehabilitation technologies have demonstrated great potential, their application remains limited in patients with severe impairments, particularly those presenting high levels of spasticity. In this context, aquatic therapy stands out for its capacity to reduce such spasticity through the physical properties of water, which facilitate movement and promote muscle relaxation. Under this premise, the MIRRA project emerged, an innovative initiative that combines robotic technologies with the benefits of the aquatic environment. This paper presents the evolution in the mechanical design of a new robotic system specifically conceived for hand rehabilitation in subaquatic environments, describing its development and improvements relative to its previous stages.