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.