DEVELOPMENT OF A VARIABLE STIFFNESS EXOSKELETON GLOVE FOR APPLYING MULTI-GRIP HAND REHABILITATION THERAPIES

Rehabilitation devices, particularly for hand therapy, face limitations in executing complex joint-specific motions critical for recovery from ailments such as stroke and trigger finger. The study addresses these limitations by designing, developing, and validating a novel Variable Stiffness Soft Actuator (VSSA) integrated into an exoskeleton glove. The VSSA leverages variable stiffness technologies to control finger joint stiffness, enabling the execution of alternative rehabilitation therapies with complex motion patterns, including joint-blocking orthoses. The research utilized a development methodology, incorporating Finite Element Analysis (FEA) simulations and experimental validation, to evaluate the VSSA's performance across multiple configurations. The study was conducted in two phases, culminating in the refined VSSA-2 design, which features PneuNet-based bending mechanisms and enhanced ergonomic fit. Fabrication challenges, such as air leakage in 3D-printed actuators, were resolved through silicone molding, ensuring consistent performance. Experimental results demonstrated the VSSA-2’s functionality compared to a commercially available rehabilitation device (CAHRD), particularly in achieving diverse grip patterns and providing precise joint control. Performance metrics, including force application and deformation trajectories, validated the device’s potential for effective rehabilitation. The research emphasizes the significance of integrating variable stiffness technologies in rehabilitation robotics to improve the application of hand rehabilitation therapies. Recommendations for future work include clinical trials, further ergonomic optimization, and exploration of advanced actuation materials to enhance device reliability and scalability. The findings contribute to advancing rehabilitative and assistive technologies, offering a foundation for innovative applications in medical and industrial domains.