Design and Fabrication of a Rigid Hand Exoskeleton for Stroke Rehabilitation in Low-Resource Settings

Rigid Hand Exoskeleton for Stroke Rehabilitation

Abstract

Upper limb impairments resulting from stroke significantly reduce hand functionality and limit the ability of affected individuals to perform activities of daily living (ADLs). Conventional stroke rehabilitation methods, primarily administered through physical therapy, face limitations related to accessibility, personalisation, and rehabilitation intensity. Hand exoskeleton devices have emerged as promising rehabilitation solutions capable of enhancing motor recovery through assisted and repetitive hand movements. This study presents the design, fabrication, and preliminary evaluation of a rigid robotic hand exoskeleton intended for stroke rehabilitation in low-resource settings. The methodology involved the study of the anatomy and biomechanics of the human hand, which informed the development of three initial design concepts. The concepts were evaluated based on engineering design requirements, including cost, performance, wearability, portability, and usability, after which the most suitable concept was selected for further development. The hand exoskeleton was fabricated using 3D printing with PLA as the main material, and the necessary kinematic analysis was performed to support the design process. Initial testing of the assembled device under donned and doffed conditions demonstrated controlled flexion and extension movements and showed that the device was able to provide 10 out of the intended 14 degrees of freedom during operation. However, limitations, including restricted range of motion and rigidity-related movement constraints, were observed. The findings demonstrate the feasibility of the proposed rigid hand exoskeleton as a rehabilitation assistance device while highlighting the need for further improvements in adaptability, flexibility, and joint actuation performance.