Soft Robotic Hand Exoskeleton with Enhanced PneuNet-Type Pneumatic Actuators for Rehabilitation and Movement Assistance

Abstract

This paper presents a new soft robotic hand exoskeleton for rehabilitation and movement assistance. The proposed device is based on a novel design of a PneuNet-type pneumatic actuator; this novel actuator design allows larger bending motions while requiring less operating pressure; additionally, the actuator has an embedded sensor that allows an accurate trajectory tracking and control. The proposed design allows safe and controlled flexion movements for each one of the fingers, which is essential for effective rehabilitation and assistance tasks. The exoskeleton effectiveness was assessed by a physical therapist, and a modified version of the Sollerman test was used. Results obtained from the evaluation procedures provided insights into the exoskeleton performance and its efficacy. Preliminary conclusions are drawn based on the findings, and potential areas for further improvement are discussed. This research contributes to the development of an advanced soft robotic hand exoskeleton for rehabilitation and movement assistance, offering controlled flexion movements and improved functionality. This study demonstrates the potential of soft actuator technology in rehabilitation, presenting new possibilities for hand trauma recovery.