A New Wrist–Forearm Rehabilitation Protocol Integrating Human Biomechanics and SVM-Based Machine Learning for Muscle Fatigue Estimation

In this research, a new remote rehabilitation system was developed that integrates an IoT-based connected robot intended for wrist and forearm rehabilitation. In fact, the mathematical model of the wrist and forearm joints was developed and integrated into the main controller. The proposed new rehabilitation protocol consists of three main sessions: the first is dedicated to the extraction of the passive components of the dynamic model of wrist–forearm biomechanics while the active components are extracted in the second session. The third session consists of performing continuous exercises using the determined dynamic model of the forearm–wrist joints, taking into account the torque generated by muscle fatigue. The main objective of this protocol is to determine the state level of the affected wrist and above all to provide a dynamic model in which the torque generated by the robot and the torque supplied by the patient are combined, taking into account the constraints of fatigue. A Support Vector Machine (SVM) classifier is designed for the estimation of muscle fatigue based on the features extracted from the electromyography (EMG) signal acquired from the patient. The results show that the developed rehabilitation system allows a good progression of the joint’s range of motion as well as the resistive-active torques.