HAPP: a Haptic Portable Pad for Hand Disease Manual Treatment

Nowadays, especially with the Covid-19 pandemic, researchers are focusing their attention on the remote delivery of devices designed for rehabilitation purposes, allowing people to recover without the physical presence of a doctor. Manual therapy is a physical treatment that is used by therapists for the treatment of musculoskeletal pain and/or disabilities. The aim of this work is to present HAPP, a new haptic portable device, designed to help patients suffering of different patholohgies, as for instance the Complex Regional Pain Syndrome type-I disease, and more in general to investigate the effects of manual therapy for diseases of the carpus and metacarpus, by mimicking traditional mechanical and rhythmic stimuli characteristics of manual treatments. Its structure consists of a plate oriented by revolute-prismatic-spherical joints, with a rack-pinion mechanism that actuates the end-effector, stimulating the user's hand palm. We provide details about the device, such as the mechanical design, the mathematical model and a graphical user interface. Preliminary studies in order to evaluate the device force exerted at the user's palm were carried out.