Development of devices for supporting, stimulating and cooperating with the human hand

The human hand is a complex and versatile organ, integral to daily activities and interactions. With the rapid advancement of technology, robotic systems are becoming essential for augmenting, supporting, and collaborating with the human hand. Beyond performing mechanical tasks, these systems now play a significant role in rehabilitation, haptic feedback, and fostering human-robot interaction. In 2022, the World Health Organization (WHO) reported a steady increase in global population aging and a corresponding rise in chronic diseases, resulting in a growing number of individuals with disabilities. In response, research in wearable robotics within the healthcare domain focuses on creating devices to meet the rising demand for assistance and rehabilitation. These technologies are designed to support daily activities while integrating into functional recovery processes, improving quality of life. This thesis explores the design, methodologies, development, and evaluation of innovative devices that address these needs, focusing on adaptability, functionality, and user-centered design. It investigates two primary domains: exoskeletons and haptic devices. The focus is on developing robotic systems that augment natural hand function, facilitate recovery, and enable collaborative interactions in various contexts. Key contributions include the development of rigid and soft hand exoskeletons, notably a modular soft glove driven by Twisted String Actuators (TSAs), and hybrid devices for rehabilitation and assistive applications. These devices prioritize adaptability to different hand sizes and ranges of motion, incorporating advanced actuation mechanisms such as differential gearboxes. Haptic technologies are another focus, featuring devices like the HapticPalm and HAPP, which provide tactile feedback to the palm for immersive virtual experiences and manual therapy. Additionally, the thesis addresses assistance through innovative robotic grippers, designed to work synergistically with the hand in unstructured environments. Employing advanced design techniques, a methodology for designing soft-rigid gripper fingers is introduced, utilizing compliant structures and novel actuation mechanisms to adapt their rigidity for versatile manipulation tasks. Empirical studies and user trials support this work, providing insights into biomechanics, haptic feedback, and thermal perception, while validating device performance. This research advances the state-of-the-art in wearable robotics, offering practical solutions to improve quality of life and enhance human-robot interaction in diverse applications.