MGlove-TS: A modular soft glove based on twisted string actuators and flexible structures

Advances in technology, design, and manufacturing processes are leading to noticeable improvements in rehabilitation management. In this paper, we introduce MGlove-TS, an actuated soft glove based on twisted string actuators (TSAs) developed to assist and support individuals with hand impairments limiting active movements and grasping force in their rehabilitation process and in daily living. The glove is designed to be lightweight, portable, easy to wear and use, comfortable for prolonged periods, with a little encumbrance, flexible and adaptable, and highly modular. The paper presents the main features of the proposed glove and a prototype actuating the thumb and index finger in flexion/extension and adduction/abduction movements. The actuated glove prototype has been evaluated through a series of tests, whose results showed its potential usefulness.