MOPAREM: movilizador pasivo de muñeca implementado en tres casos de estudio

This article aims to validate the design of the passive mobilizer for wrist rehabilitation (MOPAREM) through the implementation of a design methodology consisting of three stages and thirteen phases, analyzing the behavior of the mobilizer in three case studies. The results suggest the establishment of the final characteristics of the MOPAREM validated in simulation and experimentation with a data difference of 0.1 Nm, achieving a level of technological maturity TRL4, constituting a low-cost experimental physical model that operates with controlled laboratory parameters. New alternative solutions to the problem of wrist rehabilitation are required based on low cost for patients.