This technology develops an intelligent wrist rehabilitation robot to address wrist disorder challenges. It features a magnetic series elastic actuator for non-contact force transmission and adjustable stiffness to improve safety. A self-alignment mechanism and cable-driven design enable adaptation to various users and 2-DOF control. The device quantifies joint stiffness using torque and angle data and supports multiple rehabilitation strategies aligned with stroke recovery stages.

The breakthrough lies in the development of a magnetic series elastic actuator applied to rehabilitation devices. Compared to rigid or soft actuators, the MSEA offers advantages such as adjustable stiffness, non-contact force transmission, and overload slip protection, enhancing safety and comfort during rehabilitation. The design supports various rehabilitation modes and enables joint stiffness estimation. It is an innovative system that integrates both motion control and state evaluation.

The magnetic series elastic actuator offers high safety and control stability, already applied in rehabilitation devices. Its adjustable parameters make it suitable for various industry needs. Applications include: 1. Humanoid robot hands, reducing contact force and weight; 2. Finger exoskeletons, meeting the stiffness adjustment needs of patients; 3. VR haptic devices, enhancing interaction with virtual environments. MSEA is versatile and holds great potential for industrial applications.