中文摘要：

脑卒中和脑外伤带来的偏瘫等后遗症给患者生活与工作带来巨大的不便。腕部是人们日常工作生活的重要器官，针对具有腕功能障碍的患者，设计了一款外骨骼式三自由度便携腕部康复机器人。该机器人具有掌屈／背屈、内翻／外翻、内收／外收三个自由度，采用Maxon电机驱动。能够带动患者手腕进行三自由度运动，从而使患者进行有效的康复训练。传统的腕部康复机器人体积质量大、价格贵、局限于医院使用。该设备具有同时具备三个自由度、结构紧凑、体积小重量轻、便于携带等优点，患者可在包括家庭内的多种环境下使用。利用UG软件对设备进行了运动学仿真与分析，证明了其可行性，并对设备进行病人实验论证其可行性。

英文摘要：

Hemiplegic paralysis and other after-effects caused by Stroke and brain trauma bring great inconvenience to the life and work of patients. The wrist is one of the most important organs for people＇s normal life and work. For the patients suffering from wrist functional disorder, a portable three-degree-of freedom exoskeletal wrist- rehabilitation robot is developed. This device allows for 3 degrees-of-freedom wrist movements, including flexion- extension, pronation-supination, radial-ulnar, to meet the basic clinical need of the patients with wrist disability, driven by three Maxon motors. Most of the traditional rehabilitation devices are suitable only for using in hospitals, due to the large volume, weight and high price. The structure of this device is compact, so that it is portable and can be used in a variety of environments, including at home. Afterwards, the kinematics simulation and analysis of the device is operated by the use of UG, which proves the feasibility of the device.