A Modular Soft Robotic Exoskeleton for Active Hand Rehabilitation after Stroke

This paper presents the design and components of a modular soft exoskeleton for an active hand rehabilitation in people who has suffered a stroke. Most of the exoskeletons designs in which soft technologies are incorporated do not allow movement of the thumb. Our design allows their user to flex and stretch the index finger, the middle finger and the thumb repeatedly with the possibility to train their memory movement by picking and releasing. This was achieved through a soft exoskeleton-like glove design fabricated with a 3D printer with flexible materials. The overall weight of this Soft Exoskeleton-like glove 155 g, not including the battery of 6V, the electronic components and the microcontroller which are placed in the forearm and have total weight of 159 g. Our device is able to provide the forces of 3,9N in cylindric grasp position and 1,6N in precision grasp. These movements are possible because the thumb can move according to the grasping. This could allow future users to train and rehabilitate outside of a specialized center for more frequent training by doing repetitive exercise.