Calin Vaida | Technical University of Cluj-Napoca (original) (raw)

Papers by Calin Vaida

2018 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

This paper addresses an experimental characterization of a human arm motions aiming at the identi... more This paper addresses an experimental characterization of a human arm motions aiming at the identification of proper motion ranges and trajectories for arm training exercises. The arm motion is analyzed by postprocessing visual tracking experiences of an arm during flexion-extension motions. Assisted human arm exercises are achieved by means of a cable driven robotic device, LAWEX, which has been designed and built at LARM. Experimental tests are carried out to demonstrate the effectiveness of the obtained assisted human arm exercises.

ACTA TECHNICA NAPOCENSIS - Series: APPLIED MATHEMATICS, MECHANICS, and ENGINEERING, Apr 8, 2021

An innovative approach in the treatment of cancer is brachytherapy, or local radiation therapy. T... more An innovative approach in the treatment of cancer is brachytherapy, or local radiation therapy. This technique can deliver targeted doses in very specific body areas but the lack of a specialised device capable of placing the radiation source accurately inside the patient body is limiting the spread of this technique. The authors propose an innovative parallel robot working in cylindrical coordinates capable of reaching almost any point of interest in the thoracic-abdominal area of the human body. The geometrical model of the robot is computed along with the workspace generation emphasizing the importance of the relative position between the patient and the robot.

2021 International Conference on e-Health and Bioengineering (EHB), 2021

The paper presents the functionalities of an AI/AR module aiming to enhance the performance and s... more The paper presents the functionalities of an AI/AR module aiming to enhance the performance and safety of a hybrid robotic system for single incision laparoscopic surgery (SILS). The specific functions (components) of the AI/AR module are detailed, and an Analytic Hierarchy Process is achieved to determine the importance of each component with respect to the medical task. This analysis will serve as a foundation for the embedding of the AI/AR functionalities in the Challenge hybrid robotic assisted solution for SILS.

New Trends in Mechanism and Machine Science, 2020

Introduction: Robot-assisted liver tumor ablation has emerged as a new minimally invasive therape... more Introduction: Robot-assisted liver tumor ablation has emerged as a new minimally invasive therapeutic strategy for hepatocellular carcinoma, as well as colorectal metastases with higher accuracy, in a smaller time span and with a lower radiation dose than in the manual approach. Several ablation methods count, mostly used are radiofrequency ablation, microwave ablation and cryoablation. Materials and methods: The specialty literature was surveyed in order to retrieve manuscripts reporting "robot-assisted", "liver tumor", "ablation". The search strategy was applied in three different databases, Scopus, Web of Science and Embase. Fifteen original articles were selected and seven were excluded from the study, in order to compare results of robotic ablation for liver tumors both on patient series or on experimental models. Results: Out of a total of fifteen articles included in the study, six articles focused on the clinical aspect of robotic liver tumor aspect, providing patients description and characteristics on a total of 172 subjects. There were nine studies, which focused on the technical assessment of the robot during ablation on experimental model. The indications for percutaneous ablation usually include malignant tumors, hepatocellular carcinoma (55 tumors) or colorectal liver metastases (92 tumors) for lesions smaller than 3 cm in diameter, which cannot benefit from liver resection. The most commonly reported type of ablation was microwave technique (43%), followed by radiofrequency (40%). Only one article evaluated laser ablation effects and another one reported irreversible electroporation. The number of needles used for ablation according to the tumor volume varied from 1 in 50% of cases to 5 and the number of needle readjustments reached 1 to 14. The type of robot used was different in the fifteen studies. Conclusions: Development of more versatile robots and intuitive software that will reduce the total time of the procedures is highly expected, thus transforming imaging guided robotic ablation into the golden standard procedure for inoperable primary hepatic tumors or liver metastases.

Needle placement is an important procedure in many medical fields, especially in diagnosis (for t... more Needle placement is an important procedure in many medical fields, especially in diagnosis (for the achievement of biopsies) or cancer treatment procedures (like brachytherapy). The paper presents an extensive study of the workspace for an innovative parallel robot designed for needle placement procedures. The singularities of the parallel robot are exhaustively analysed and the possibilities of avoiding them are described. A study regarding the positioning and orientation accuracy and the influence of each active joint upon the end-effector (needle) is achieved.

This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compl... more This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compliance with the latest safety protocols and requirements [3] the paper presents a new mathematical model using algebraic constraints and the Study parameterization of the Euclidian displacement group. Using algebraic methods combined with multidimension geometry proved to be efficient in the calculation of the kinematics of mechanisms and in the explanations of their behavior. The results obtained using this algebraic method were analyzed with respect to the data obtained from the experimental model of the robot by comparing theoretical computation results with the actual behavior of the robot. The analysis of the kinematics using these methods allows a complete description of working modes, singularities and robot behavior enabling a safe control throughout the medical task.

Mechanisms and Machine Science, 2018

The paper addresses the upper limb rehabilitation for post-stroke patients. A dual-arm exoskeleto... more The paper addresses the upper limb rehabilitation for post-stroke patients. A dual-arm exoskeleton for the elbow and wrist flexion-extension is proposed. The added benefit of this robotic system is given by its portability and its ability to perform mirrored exercises using the motions provided by the unimpaired limb. The dual-arm exoskeleton addresses patients in the chronic phase after the stroke and even the patients in the post-acute phase allowing them to do rehabilitation exercises themselves.

The paper presents the mathematical modelling of the direct kinematics and singularities for a pa... more The paper presents the mathematical modelling of the direct kinematics and singularities for a parallel robotic system designed for prostate biopsy. The mathematical description is obtained using Study parameters of SE(3) with quaternion representation. Based on the robot architecture and the active joint values, numerical solutions are presented for kinematics, and singularity conditions are obtained in the active joint space.

2021 25th International Conference on System Theory, Control and Computing (ICSTCC), 2021

Due to current limitations in the treatment of the upper limb post-stroke patients, there is a po... more Due to current limitations in the treatment of the upper limb post-stroke patients, there is a powerful trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-wrist parallel robot designed for the wrist rehabilitation. The model is developed based on the principle of virtual work using the lumped masses model. The derived model offers the possibility of a complex study for ParReEx-wrist robot to evaluate its dynamic capabilities and to generate the assistive control algorithms.

Mechanisms and Machine Science, 2020

6th International Conference on Advancements of Medicine and Health Care through Technology; 17–20 October 2018, Cluj-Napoca, Romania, 2019

The paper presents some considerations on the development of an external system of sensors for po... more The paper presents some considerations on the development of an external system of sensors for post-stroke robotic assisted rehabilitation. A conceptual integrated system which places the patient as an active component is proposed. A set of bio-signals and the corresponding sensors are described to use the data as real-time information during rehabilitation exercises. A novel robotic system is presented for bed confined patients with its kinematic structure and workspace generation for medically relevant motions along with the positioning of the system of external sensors.

Research Anthology on Rehabilitation Practices and Therapy, 2021

This chapter deals with robotics for assisting patients in their recovery after stroke. The first... more This chapter deals with robotics for assisting patients in their recovery after stroke. The first section outlines the key physiotherapist movements that are needed in post-stroke treatment. Sets of experimental data are discussed for defining the main specifications for post-stroke rehabilitation devices. Then, a detailed overview is provided on the existing key achievements and solutions concerning rehabilitation robotics for post-stroke treatment. This section is followed by a detailed critical analysis aiming at the definition of new concepts for cost-oriented user-friendly solutions.

Advances in Service and Industrial Robotics, 2017

This paper outlines the main design issues for an upper limb rehabilitation device. In particular... more This paper outlines the main design issues for an upper limb rehabilitation device. In particular, human motions have been measured and analyzed in order to identify a safe workspace required for a rehabilitation device. A preliminary design solution is proposed based on a cable-driven parallel architecture, which can provide the required operation workspace and significantly improve the safety of the rehabilitation procedure as compared with exoskeletons or traditional robotic devices.

Journal of Bionic Engineering, 2019

The first objective of this paper is to study the influence of the orthotic device on the maximum... more The first objective of this paper is to study the influence of the orthotic device on the maximum values of stresses in knee cartilages by using Ansys Workbench 14.5 software and applying the Finite Element Analysis (FEA) on a virtual assembly composed by an orthotic device and osteoarthritic knee (OAK). The second objective consists into quantifying and investigating the nonlinear motion of the human knee joint for OAK patients, with and without the orthotic device mounted on OAK, using tools of dynamics stability analysis. The short Lyapunov Exponents (LEs) are calculated, as measures of human knee and ankle joints stability, based on the experimental time series collected by using the biometrics acquisition system during walking on horizontal and inclined treadmills from a sample of healthy subjects and a sample of patients suffering by OAK disease. The values of LEs obtained for OAK patients are larger on the inclined treadmill than on horizontal treadmill and are larger than those obtained for healthy knees, being associated with more divergence and less stability. The results confirm that the influence of an orthotic device mounted on OAK on its stability is significant, the values obtained for LEs being smaller than those calculated for OAK, and closer to the values of normal knees of patients and of healthy subjects.

Advances in Mechanism and Machine Science, 2019

The paper presents the kinematic model and dynamic simulation of a parallel robotic structure for... more The paper presents the kinematic model and dynamic simulation of a parallel robotic structure for lower limb rehabilitation of post-stroke bedridden patients. The parallel robotic structure has a modular construction that enables the motion of each targeted joint: hip, knee and ankle. The kinematic model and singularities of the robotic structure are presented. A comparison between the results obtained through numerical simulation of kinematic model using Matlab and the ones obtained through graphical simulation of the robotic structure using Siemens NX is reported along with a dynamic simulation of the robotic structure carried on using Motion module provided also by Siemens NX.

The paper presents the dynamic behavior of a 5-DOF parallel robot. The innovative modular structu... more The paper presents the dynamic behavior of a 5-DOF parallel robot. The innovative modular structure was developed for medical use, especially in brachytherapy for the precise positioning of the BT needles in any part of the patient body. The dynamic model presented in this paper will enable the development of adequate control algorithms to fulfill the accuracy requirements for the task in hand. Knowing the general motion of the end-effector, the inverse dynamics problem is solved using an approach based on the general principle of virtual work. Finally the achieved results are compared with the Siemens NX dynamic simulations.

2017 21st International Conference on System Theory, Control and Computing (ICSTCC), 2017

This paper presents the validation of the closed loop control system of a parallel robot designed... more This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.

Mechanisms and Machine Science, 2018

Robotic rehabilitation is a developing field of research which could become a necessity in the ne... more Robotic rehabilitation is a developing field of research which could become a necessity in the next decades due to the natural shifting of the population age. The aim of the paper is to present an innovative robotic device for the rehabilitation of the lower limb of patients in the acute post stroke phase. The parallel robot has a modular construction enabling the mobility of each major joint: hip, knee and ankle. Furthermore, the robotic system kinematics is presented and the singularities are derived, to validate the proposed system for its intended medical task, considering the upper limb motion requirements for the rehabilitation exercises.

Multibody Mechatronic Systems, 2017

This work extents the project Technological Development of a Low-cost Wrist Rehabilitation Robot.... more This work extents the project Technological Development of a Low-cost Wrist Rehabilitation Robot. The project goal is to develop a robotic system to aid physiatrists in their work of rehabilitating patients with injuries at the wrist joint. The rehabilitation protocol of the wrist often follows three stages: i) the physiatrist immobilizes the wrist for a time, ii) then, he/she treats the wrist by applying heat or cold over sore tendons and muscles, and iii) the physiatrist applies force on the wrist to give smooth movements until recovering its range of motion. In the latter stage, the physiatrist performs several exercises for long periods of time, which opens a great opportunity for being substituted for a robotic device. Earlier works, based on analyzing several rehabilitation therapies, allowed to set up the design specifications and a robot first design. Thus, the aims of this work is to present the kinematic and static analysis of a 2 degree of freedom serial robot designed for wrist rehabilitation. First, the physiatrists' team from the Traumatology Service at the IAHULA, Mérida Venezuela recorded rehabilitation therapies normally used when treating an injured wrist. Then, the kinematic and static models to study recorded trajectories are developed. Findings allow us to improve the actual robot design, and they also show that the designed robot can tackle the therapies required for wrist rehabilitation.

2018 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

This paper addresses an experimental characterization of a human arm motions aiming at the identi... more This paper addresses an experimental characterization of a human arm motions aiming at the identification of proper motion ranges and trajectories for arm training exercises. The arm motion is analyzed by postprocessing visual tracking experiences of an arm during flexion-extension motions. Assisted human arm exercises are achieved by means of a cable driven robotic device, LAWEX, which has been designed and built at LARM. Experimental tests are carried out to demonstrate the effectiveness of the obtained assisted human arm exercises.

ACTA TECHNICA NAPOCENSIS - Series: APPLIED MATHEMATICS, MECHANICS, and ENGINEERING, Apr 8, 2021

An innovative approach in the treatment of cancer is brachytherapy, or local radiation therapy. T... more An innovative approach in the treatment of cancer is brachytherapy, or local radiation therapy. This technique can deliver targeted doses in very specific body areas but the lack of a specialised device capable of placing the radiation source accurately inside the patient body is limiting the spread of this technique. The authors propose an innovative parallel robot working in cylindrical coordinates capable of reaching almost any point of interest in the thoracic-abdominal area of the human body. The geometrical model of the robot is computed along with the workspace generation emphasizing the importance of the relative position between the patient and the robot.

2021 International Conference on e-Health and Bioengineering (EHB), 2021

The paper presents the functionalities of an AI/AR module aiming to enhance the performance and s... more The paper presents the functionalities of an AI/AR module aiming to enhance the performance and safety of a hybrid robotic system for single incision laparoscopic surgery (SILS). The specific functions (components) of the AI/AR module are detailed, and an Analytic Hierarchy Process is achieved to determine the importance of each component with respect to the medical task. This analysis will serve as a foundation for the embedding of the AI/AR functionalities in the Challenge hybrid robotic assisted solution for SILS.

New Trends in Mechanism and Machine Science, 2020

Introduction: Robot-assisted liver tumor ablation has emerged as a new minimally invasive therape... more Introduction: Robot-assisted liver tumor ablation has emerged as a new minimally invasive therapeutic strategy for hepatocellular carcinoma, as well as colorectal metastases with higher accuracy, in a smaller time span and with a lower radiation dose than in the manual approach. Several ablation methods count, mostly used are radiofrequency ablation, microwave ablation and cryoablation. Materials and methods: The specialty literature was surveyed in order to retrieve manuscripts reporting "robot-assisted", "liver tumor", "ablation". The search strategy was applied in three different databases, Scopus, Web of Science and Embase. Fifteen original articles were selected and seven were excluded from the study, in order to compare results of robotic ablation for liver tumors both on patient series or on experimental models. Results: Out of a total of fifteen articles included in the study, six articles focused on the clinical aspect of robotic liver tumor aspect, providing patients description and characteristics on a total of 172 subjects. There were nine studies, which focused on the technical assessment of the robot during ablation on experimental model. The indications for percutaneous ablation usually include malignant tumors, hepatocellular carcinoma (55 tumors) or colorectal liver metastases (92 tumors) for lesions smaller than 3 cm in diameter, which cannot benefit from liver resection. The most commonly reported type of ablation was microwave technique (43%), followed by radiofrequency (40%). Only one article evaluated laser ablation effects and another one reported irreversible electroporation. The number of needles used for ablation according to the tumor volume varied from 1 in 50% of cases to 5 and the number of needle readjustments reached 1 to 14. The type of robot used was different in the fifteen studies. Conclusions: Development of more versatile robots and intuitive software that will reduce the total time of the procedures is highly expected, thus transforming imaging guided robotic ablation into the golden standard procedure for inoperable primary hepatic tumors or liver metastases.

Needle placement is an important procedure in many medical fields, especially in diagnosis (for t... more Needle placement is an important procedure in many medical fields, especially in diagnosis (for the achievement of biopsies) or cancer treatment procedures (like brachytherapy). The paper presents an extensive study of the workspace for an innovative parallel robot designed for needle placement procedures. The singularities of the parallel robot are exhaustively analysed and the possibilities of avoiding them are described. A study regarding the positioning and orientation accuracy and the influence of each active joint upon the end-effector (needle) is achieved.

This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compl... more This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compliance with the latest safety protocols and requirements [3] the paper presents a new mathematical model using algebraic constraints and the Study parameterization of the Euclidian displacement group. Using algebraic methods combined with multidimension geometry proved to be efficient in the calculation of the kinematics of mechanisms and in the explanations of their behavior. The results obtained using this algebraic method were analyzed with respect to the data obtained from the experimental model of the robot by comparing theoretical computation results with the actual behavior of the robot. The analysis of the kinematics using these methods allows a complete description of working modes, singularities and robot behavior enabling a safe control throughout the medical task.

Mechanisms and Machine Science, 2018

The paper addresses the upper limb rehabilitation for post-stroke patients. A dual-arm exoskeleto... more The paper addresses the upper limb rehabilitation for post-stroke patients. A dual-arm exoskeleton for the elbow and wrist flexion-extension is proposed. The added benefit of this robotic system is given by its portability and its ability to perform mirrored exercises using the motions provided by the unimpaired limb. The dual-arm exoskeleton addresses patients in the chronic phase after the stroke and even the patients in the post-acute phase allowing them to do rehabilitation exercises themselves.

The paper presents the mathematical modelling of the direct kinematics and singularities for a pa... more The paper presents the mathematical modelling of the direct kinematics and singularities for a parallel robotic system designed for prostate biopsy. The mathematical description is obtained using Study parameters of SE(3) with quaternion representation. Based on the robot architecture and the active joint values, numerical solutions are presented for kinematics, and singularity conditions are obtained in the active joint space.

2021 25th International Conference on System Theory, Control and Computing (ICSTCC), 2021

Due to current limitations in the treatment of the upper limb post-stroke patients, there is a po... more Due to current limitations in the treatment of the upper limb post-stroke patients, there is a powerful trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-wrist parallel robot designed for the wrist rehabilitation. The model is developed based on the principle of virtual work using the lumped masses model. The derived model offers the possibility of a complex study for ParReEx-wrist robot to evaluate its dynamic capabilities and to generate the assistive control algorithms.

Mechanisms and Machine Science, 2020

6th International Conference on Advancements of Medicine and Health Care through Technology; 17–20 October 2018, Cluj-Napoca, Romania, 2019

The paper presents some considerations on the development of an external system of sensors for po... more The paper presents some considerations on the development of an external system of sensors for post-stroke robotic assisted rehabilitation. A conceptual integrated system which places the patient as an active component is proposed. A set of bio-signals and the corresponding sensors are described to use the data as real-time information during rehabilitation exercises. A novel robotic system is presented for bed confined patients with its kinematic structure and workspace generation for medically relevant motions along with the positioning of the system of external sensors.

Research Anthology on Rehabilitation Practices and Therapy, 2021

This chapter deals with robotics for assisting patients in their recovery after stroke. The first... more This chapter deals with robotics for assisting patients in their recovery after stroke. The first section outlines the key physiotherapist movements that are needed in post-stroke treatment. Sets of experimental data are discussed for defining the main specifications for post-stroke rehabilitation devices. Then, a detailed overview is provided on the existing key achievements and solutions concerning rehabilitation robotics for post-stroke treatment. This section is followed by a detailed critical analysis aiming at the definition of new concepts for cost-oriented user-friendly solutions.

Advances in Service and Industrial Robotics, 2017

This paper outlines the main design issues for an upper limb rehabilitation device. In particular... more This paper outlines the main design issues for an upper limb rehabilitation device. In particular, human motions have been measured and analyzed in order to identify a safe workspace required for a rehabilitation device. A preliminary design solution is proposed based on a cable-driven parallel architecture, which can provide the required operation workspace and significantly improve the safety of the rehabilitation procedure as compared with exoskeletons or traditional robotic devices.

Journal of Bionic Engineering, 2019

The first objective of this paper is to study the influence of the orthotic device on the maximum... more The first objective of this paper is to study the influence of the orthotic device on the maximum values of stresses in knee cartilages by using Ansys Workbench 14.5 software and applying the Finite Element Analysis (FEA) on a virtual assembly composed by an orthotic device and osteoarthritic knee (OAK). The second objective consists into quantifying and investigating the nonlinear motion of the human knee joint for OAK patients, with and without the orthotic device mounted on OAK, using tools of dynamics stability analysis. The short Lyapunov Exponents (LEs) are calculated, as measures of human knee and ankle joints stability, based on the experimental time series collected by using the biometrics acquisition system during walking on horizontal and inclined treadmills from a sample of healthy subjects and a sample of patients suffering by OAK disease. The values of LEs obtained for OAK patients are larger on the inclined treadmill than on horizontal treadmill and are larger than those obtained for healthy knees, being associated with more divergence and less stability. The results confirm that the influence of an orthotic device mounted on OAK on its stability is significant, the values obtained for LEs being smaller than those calculated for OAK, and closer to the values of normal knees of patients and of healthy subjects.

Advances in Mechanism and Machine Science, 2019

The paper presents the kinematic model and dynamic simulation of a parallel robotic structure for... more The paper presents the kinematic model and dynamic simulation of a parallel robotic structure for lower limb rehabilitation of post-stroke bedridden patients. The parallel robotic structure has a modular construction that enables the motion of each targeted joint: hip, knee and ankle. The kinematic model and singularities of the robotic structure are presented. A comparison between the results obtained through numerical simulation of kinematic model using Matlab and the ones obtained through graphical simulation of the robotic structure using Siemens NX is reported along with a dynamic simulation of the robotic structure carried on using Motion module provided also by Siemens NX.

The paper presents the dynamic behavior of a 5-DOF parallel robot. The innovative modular structu... more The paper presents the dynamic behavior of a 5-DOF parallel robot. The innovative modular structure was developed for medical use, especially in brachytherapy for the precise positioning of the BT needles in any part of the patient body. The dynamic model presented in this paper will enable the development of adequate control algorithms to fulfill the accuracy requirements for the task in hand. Knowing the general motion of the end-effector, the inverse dynamics problem is solved using an approach based on the general principle of virtual work. Finally the achieved results are compared with the Siemens NX dynamic simulations.

2017 21st International Conference on System Theory, Control and Computing (ICSTCC), 2017

This paper presents the validation of the closed loop control system of a parallel robot designed... more This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.

Mechanisms and Machine Science, 2018

Robotic rehabilitation is a developing field of research which could become a necessity in the ne... more Robotic rehabilitation is a developing field of research which could become a necessity in the next decades due to the natural shifting of the population age. The aim of the paper is to present an innovative robotic device for the rehabilitation of the lower limb of patients in the acute post stroke phase. The parallel robot has a modular construction enabling the mobility of each major joint: hip, knee and ankle. Furthermore, the robotic system kinematics is presented and the singularities are derived, to validate the proposed system for its intended medical task, considering the upper limb motion requirements for the rehabilitation exercises.

Multibody Mechatronic Systems, 2017

This work extents the project Technological Development of a Low-cost Wrist Rehabilitation Robot.... more This work extents the project Technological Development of a Low-cost Wrist Rehabilitation Robot. The project goal is to develop a robotic system to aid physiatrists in their work of rehabilitating patients with injuries at the wrist joint. The rehabilitation protocol of the wrist often follows three stages: i) the physiatrist immobilizes the wrist for a time, ii) then, he/she treats the wrist by applying heat or cold over sore tendons and muscles, and iii) the physiatrist applies force on the wrist to give smooth movements until recovering its range of motion. In the latter stage, the physiatrist performs several exercises for long periods of time, which opens a great opportunity for being substituted for a robotic device. Earlier works, based on analyzing several rehabilitation therapies, allowed to set up the design specifications and a robot first design. Thus, the aims of this work is to present the kinematic and static analysis of a 2 degree of freedom serial robot designed for wrist rehabilitation. First, the physiatrists' team from the Traumatology Service at the IAHULA, Mérida Venezuela recorded rehabilitation therapies normally used when treating an injured wrist. Then, the kinematic and static models to study recorded trajectories are developed. Findings allow us to improve the actual robot design, and they also show that the designed robot can tackle the therapies required for wrist rehabilitation.