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Updated: Nov 1, 2025

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

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Published on: May 20, 2020

Stable Grasp Control With a Robotic Exoskeleton Glove.

Teja Vanteddu¹, Pinhas Ben-Tzvi¹

¹Department of Mechanical Engineering, Virginia Tech, Robotics and Mechatronics Lab, Blacksburg, VA 24060.

Journal of Mechanisms and Robotics

|June 25, 2021

Summary

This study introduces a novel robotic exoskeleton glove to help patients with hand paralysis regain grasping ability. New methods enhance grasp stability, reducing object drops for improved daily activities.

Keywords:

dynamics and exoskelotons linkage mechanisms wearable robots

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Last Updated: Nov 1, 2025

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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

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Published on: April 21, 2023

Area of Science:

Robotics
Rehabilitation Engineering
Biomechanics

Background:

Stroke and other conditions can cause hand paralysis, limiting daily activities.
Existing research on grasp stability primarily focused on robotic grippers, with less attention to exoskeleton gloves.
Previous work on robotic exoskeleton gloves often emphasized mechanical design over grasp stability.

Purpose of the Study:

To develop and integrate an exoskeleton robotic glove for patients with hand paralysis.
To introduce novel methods for improving grasp stability in robotic exoskeleton gloves.
To validate the effectiveness of the developed methods through simulations and experiments.

Main Methods:

Designed a robotic exoskeleton glove with rigidly coupled four-bar linkages at the fingertips.
Each linkage is actuated by a one-degree-of-freedom (DOF) linear series elastic actuator (SEA).
Developed two algorithms addressing deformation prevention of soft objects and maintaining force/moment equilibrium during grasping.

Main Results:

Simulations confirmed the performance of the proposed grasp stability algorithms.
Experimental validation on the integrated prototype demonstrated the algorithms' effectiveness.
The developed methods successfully addressed key conditions for stable grasping.

Conclusions:

The developed robotic exoskeleton glove shows promise for aiding patients with hand paralysis.
Novel methods for grasp stability significantly improve the glove's functionality.
This research contributes to advancing assistive robotic technologies for rehabilitation.