Hybrid Soft-Rigid Robotic System for Hand Rehabilitation

This article proposes the design and development of a cost-effective hand rehabilitation system based on the principle of mirror therapy, and a hybrid soft-rigid structure. The developed system uses mirror therapy, by focusing on cortical reorganization to improve the recovery of hand movements. The system integrates a sensory glove on the healthy hand equipped with bending sensors to detect finger movements. Two different types of bending sensors (one of which is a soft sensor) were considered and compared, and the sensors were extensively characterized. The movements of the healthy hand, detected by the sensing glove, control an exoskeleton-like rehabilitation glove worn on the affected hand. The presented rehabilitation glove contains 3D-printed components with compliant flexural hinges that are actuated by electric servomotors and wires. The extension of the fingers is active (for the hand opening), and the finger flexion is mixed passive/active, thanks to the flexural hinges. The finger interface ensures a customized fit. The modular design of the system facilitates adjustments and optimizations. This cost-effective hand rehabilitation system offers a promising approach to improving motor recovery through mirror therapy for patients with various hand problems, including rehabilitation at home through a low-cost personalized device.