Gloreha—Hand Robotic Rehabilitation: Design, Mechanical Model, and Experiments

Stroke patients are often affected by hand impairment. Literature shows different experiences of robotic rehabilitation that is able to prove an intensive and effective therapy. A preliminary analysis of the state of the art evidenced lacks in hand robotic rehabilitation devices. Thus, this work proposes a new rehabilitation device for hand rehabilitation based on a compliant transmission. The mechanical power generator is not on the hand to reduce the weight of the device. The mechanical model of the system is descripted. Experimental results on 126 stroke patients evidenced the efficacy of this device