Experimental characterization of a flexible joint with controlled stiffness for the development of a rehabilitation passive hand

Passive hand rehabilitation is an effective technique for improving hand range of motion, flexibility, and strength after physical injuries, surgery, or stroke. There are several methods and materials used for passive rehabilitation, with deformable systems being a promising option due to their adaptability and safety. This paper presents a flexible joint called Flexojoint. A compliant rotational joint provided by an embedded inflatable chamber has been specifically designed for active hand rehabilitation therapy. The device is fabricated in thermoplastic elastomer through additive manufacturing techniques. Experimental results show that the Flexojoint can generate various levels of resistive torque during finger rehabilitation exercises