Design of a lightweight wearable exoskeleton with virtual reality feedback for post-stroke hand rehabilitation.

OBJECTIVES: This study aimed to develop and preliminarily evaluate a lightweight wearable hand exoskeleton integrated with virtual reality (VR) feedback for post-stroke hand rehabilitation. METHODS: A compact exoskeleton with multi-link finger assistance, flex sensors, surface electromyography (EMG), adaptive control, and Unity-based VR tasks was designed. Twelve post-stroke patients completed 30-min sessions, five days per week, for four weeks. Outcomes included MCP and PIP range of motion (ROM), object manipulation time, ARAT, FMA, ADL, safety, and satisfaction. RESULTS: MCP ROM improved by 33 ± 7° and PIP ROM by 29 ± 6°, while object manipulation time decreased by 28 ± 10 %. ARAT, FMA, and ADL improved by 11.2 ± 3.1, 8.7 ± 2.0, and 15.0 ± 10.4, respectively. No adverse events were reported, and satisfaction was high. CONCLUSIONS: The system showed feasibility, safety, usability, and preliminary functional benefits. Larger controlled studies with longer follow-up are needed to confirm clinical efficacy.