Robotic System for Hand Rehabilitation Based on Mirror Therapy

The paper presents the study of a system composed by a sensorized glove that could interface with GLOREHA Lite hand exoskeleton. The movement of each GLOREHA’s motor acts on the flexion or extension of the corresponding finger through a cable transmission, allowing the user to carry out robot-assisted rehabilitation therapy for the hand. The combined use of GLOREHA and of the sensing glove allows performing a bimanual therapy using the Mirror Therapy technique, with the effect of increasing the effectiveness of the treatment. A test bench was used for the characterization of the bending sensors inserted into the sensing glove to detect flexion and extension of the fingers. Two sensor gloves were developed; one made of tissue, where the sensors are inserted into appropriate seams, and one made of Silicon, where the sensors were incorporated between two layers of material. Both solutions proved to be adequate. The characterised sensors have shown performances suitable for this type of application, while the tests on the responsiveness of GLOREHA to the command signal are good for both serial and Bluetooth communication. The presented system favors the achievement of the objectives of pillar three of the sustainable development goals (SDG): good health and well-being. An effective rehabilitation activity at home can allow a greater number of people, compared to the current one, to more quickly recover the motor functions of the hand.