Sensory Glove with Fusion of Kinesthetic and Cutaneous Feedback for Rehabilitation Training

This study presents the design and fabrication of a flexible rehabilitation glove integrating multimodal sensing and feedback functions, offering an intelligent solution for hand rehabilitation. The glove utilizes liquid-metal-based piezoresistive and triboelectric sensing modules for precise detection of joint bending, muscle force, and tactile inputs. Pneumatic and thermal feedback mechanisms provide realistic force and temperature sensations, enhancing the rehabilitation experience. Experimental results demonstrate high sensitivity, linearity, and repeatability of the sensing modules, with stable output performance from the feedback modules. The glove enables real-time synchronization of hand movements in a virtual environment, supporting rehabilitation exercises such as gripping and rotating. This approach enhances patient engagement and facilitates remote assessment by clinicians, improving rehabilitation outcomes and resource efficiency. The proposed glove advances intelligent rehabilitation device development, addressing resource constraints and improving recovery quality. Future work will focus on optimizing user comfort and expanding the system's applicability to diverse patient needs.