Analysis and development of the modular elements of a tendon-actuated glove for hand rehabilitation

Robotic rehabilitation requires personalized, versatile, and efficient devices to accommodate the diverse needs of patients recovering from motor impairments. In this paper, we focus on hand rehabilitation and analyse a tendon-driven, modular, and adaptable robotic glove actuated by twisted string actuators (TSAs). The proposed solution exploits flexibility in design, allowing customization based on individual patient needs while ensuring effective assistance in hand movements. Specifically, in this paper we investigate the kinematic relationships between tendon-driven actuators and hand motion. We provide a detailed implementation of multiple functional modules within the glove, designed to accommodate various rehabilitation exercises and adapt to different degrees of motor impairment. In addition, we present experimental tests involving a user to evaluate the system’s performance, usability, and effectiveness in facilitating hand movement. The results provide insights into the potential of TSA-driven robotic gloves for enhancing rehabilitation outcomes through a combination of precise actuation and adaptability to user’s needs.