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Hand Rehabilitation Dynamic Splint with Variable Force via Pneumatic Artificial Muscle Actuators.

V Potnik1, G Frediani1, M Dimitri1

  • 1Department of Industrial Engineering, University of Florence, Florence, Italy.

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|June 14, 2026
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Summary

This study introduces a novel dynamic hand splint using soft pneumatic actuators for controllable hand rehabilitation. The active splint allows for precise force adjustments, enhancing therapeutic exercise outcomes.

Keywords:
ActuatorHandOrthosisPneumaticRehabilitationSplint

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Area of Science:

  • Rehabilitation Engineering
  • Biomedical Devices
  • Soft Robotics

Background:

  • Dynamic hand splints traditionally use passive elastic components for finger movement resistance.
  • Controllable loads are desirable for real-time exercise adjustment and improved therapeutic results.
  • Soft actuators offer potential advantages over elastic bands for dynamic hand splints.

Purpose of the Study:

  • To develop and evaluate a dynamic hand splint utilizing soft pneumatic actuators as "inverse artificial muscles".
  • To enable dynamically controllable loads for hand rehabilitation exercises.
  • To assess the feasibility of using soft actuators for precise force modulation in hand splints.

Main Methods:

  • A prototype dynamic splint was constructed using off-the-shelf materials and soft pneumatic actuators.
  • Actuators were integrated into a forearm brace, connected to a finger via a tendon and an onboard load cell.
  • The system underwent psychophysical testing to evaluate force perception and system accuracy.

Main Results:

  • Psychophysical tests demonstrated reliable perception of force variations by subjects (sensitivity ~110%/bar).
  • The system achieved accurate force control, with a minimum perceivable force of ~0.7 N at 3 bar in static tests.
  • The maximum average force exerted was ~5.2 N at 0 bar.

Conclusions:

  • The developed active splint, equipped with soft pneumatic actuators, shows promise for dynamic hand rehabilitation.
  • This technology has the potential to significantly enhance the controllability and effectiveness of hand therapy.
  • The findings support the use of soft actuators in creating advanced rehabilitation orthoses.