TheraGlove Pro: A Soft Robotic Glove for Stroke Rehabilitation
TheraGlove Pro: A Soft Robotic Glove for Stroke Rehabilitation
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TheraGlove Pro is a wearable, soft robotic glove designed to assist individuals recovering from strokes or other conditions that affect hand motor function. By combining pneumatic actuators, flex sensors, and a custom-built user interface, the glove offers a low-cost, accessible, and trackable rehabilitation experience that can be used both in clinics and at home. Our goal was to create an affordable therapy solution that bridges the healthcare access gap for under $300 per unit.
I led mechanical design, finger fabrication, glove assembly, and designed the testing apparatus. I also helped implement the Arduino logic for valve actuation.
Mechanical Design (CAD)
Key Features
Key Features
Ergonomic glove with soft silicone actuators
Tracks finger angle with flex sensors (±2° accuracy)
GUI for real-time motion and valve control
Produces up to 3.1 N grip force per finger
Fully bends fingers in 2 seconds with 50 kPa pressure
Unit cost < $300
Technical Design
Technical Design
Control System
Control System
Microcontroller: Arduino Uno
Sensor: 5x Flex Sensors (0–150° tracking)
6x Solenoid Valves, MOSFET controlled
Power: 12V 2800mAh rechargeable battery
GUI: Built with Processing to visualize sensor input & valve states
Internal Mechanical System
Internal Mechanical System
Internal view of separate housing that contains pumps, electrical components, the battery, and solenoid valves.
Diaphragm pumps with 2L/min flow for fast response
Pneumatic hose routing through the glove to each finger
Testing and Results
Testing and Results
Grip Force Testing Apparatus
Glove Testing.MOV
Pressure vs. Fingertip Force Results
Pressure vs. Fingertip Force Results
The bending angle increases consistently with applied pressure, demonstrating a direct and approximately linear relationship. At a pressure of 10kPa, the actuator exhibits a bending angle of about 30°, indicating an initial partial flexion. As the pressure increases, the finger continues to bend, reaching 148° at 50kPa. At this maximum angle, the finger is considered fully curled, signifying a complete range of motion.
Pressure vs. Force Output Results
Pressure vs. Force Output Results
To evaluate the gripping capability of the soft robotic glove, a second test was conducted to measure the force output produced by the actuator at varying levels of pneumatic pressure, delivered via an air pump. At low pressure (10 kPa), the glove produces a modest force output of approximately 0.3 N, reflecting minimal actuation and limited ability to grasp or hold objects. However, as pressure increases, a steady rise in force is observed. At 30 kPa, the actuator generates about 2 N of output force, and by 50 kPa, the force reaches approximately 3.1 N. This force is large enough for the glove to support tasks such as small object grabbing (holding utensils, plastic bottles, or assisting in daily rehabilitation exercises).
Results
Results
Final Glove Prototype
User Angle Tracking Interface
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