Design and Characterization of Modular Soft Exoskeleton for Hand Rehabilitation

In this work, we present the investigation and the results of innovative soft finger modules of an actuated compact glove. The modular finger modules are based on a soft, open-ring structure, to improve the comfort of the user when the hand is relaxed, and at the same time to enhance the glove's structural stability when it is active for grasping assistance. We present a novel modular design of the finger modules, integrated with a working prototype of the actuated glove. Design is then characterized and evaluated with experimental loading tests of the prototype parts and FEM simulation. The simulation helps to understand interface forces between the soft rings and the finger tissue which would be otherwise difficult to evaluate in experiments.