Advanced Soft Wearable Robotics for Rehabilitation: Incorporating Forearm Rotation in a Glove Exosuit to Augment Grasping Capabilities and Improve Therapeutic Outcomes

Musculoskeletal and neurological conditions are significantly impacting people globally, leading to reduced upper limb function and consequently, diminished ability to perform daily tasks. The development of wearable robots offers a promising solution to assist individuals with impaired motor skills by facilitating rehabilitation exercises and aiding in everyday activities. Among various studies on upper limb wearable robots, the focus on wearable gloves designed to restore hand gripping abilities has gained considerable attention. However, the same object is grasped differently depending on what one plans to do with an object next. Therefore, exploring wearable robots that offer broader support for upper limb functions is a valuable research area. In our study, we introduce a wearable robot targeting the hand and forearm, utilizing tendon-driven actuation and a hybrid active-passive mechanism with a spring blade. This device aids in the extension and flexion of the thumb, index, and middle fingers, while also enabling pronation and supination movements of the forearm. Remarkably, the entire system operates using just two motors. This innovation allows users to perform gripping actions in various forearm positions, expanding the scope of rehabilitation training and practical daily activities. We evaluated the device's range of motion, gripping force, and wearability through bench tests and trials with four healthy participants. Our findings also demonstrate the device's capability in executing simple everyday tasks.