A Compact and Lightweight Rehabilitative Exoskeleton to Restore Grasping Functions for People with Hand Paralysis

Area of Science:

• Biomedical Engineering
• Rehabilitation Robotics
• Neuroscience

Background:

• Millions suffer upper extremity paralysis due to stroke, traumatic brain injury, or spinal cord injury.
• Existing robotic hand exoskeletons are often bulky and difficult to use, limiting their practical application.
• Restoring hand function is crucial for daily living and independence.

Purpose of the Study:

• To develop a motorized, lightweight, and fully wearable rehabilitative hand exoskeleton.
• To improve upon existing designs by incorporating a soft mechanism for versatile grasping.
• To evaluate the mechanical performance and functional efficacy of the novel exoskeleton.

Main Methods:

• Modification of the Tenoexo design to create a wearable robotic hand exoskeleton.
• Integration of rigid and soft components for adaptable grasp capabilities.
• Mechanical testing for fingertip force and range of motion, and clinical testing with individuals with chronic hand paralysis.

Main Results:

• The exoskeleton achieved a fingertip force of up to 8 N.
• It demonstrated a range of motion of 91.5° within 3 seconds.
• Two participants with quadriplegia showed immediate success in grasping diverse daily objects.

Conclusions:

• The developed robotic exoskeleton is a viable solution for hand function assistance in individuals with paralysis.
• The lightweight and wearable design enhances usability for daily tasks.
• The device shows potential for restoring lost finger control and improving patient independence.