Medical College of Wisconsin
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Design and validation of low-cost assistive glove for hand assessment and therapy during activity of daily living-focused robotic stroke therapy. J Rehabil Res Dev 2009;46(5):587-602



Pubmed ID


Pubmed Central ID




Scopus ID

2-s2.0-70350437635   38 Citations


Hand and arm impairment is common after stroke. Robotic stroke therapy will be more effective if hand and upper-arm training is integrated to help users practice reaching and grasping tasks. This article presents the design, development, and validation of a low-cost, functional electrical stimulation grasp-assistive glove for use with task-oriented robotic stroke therapy. Our glove measures grasp aperture while a user completes simple-to-complex real-life activities, and when combined with an integrated functional electrical stimulator, it assists in hand opening and closing. A key function is a new grasp-aperture prediction model, which uses the position of the end-effectors of two planar robots to define the distance between the thumb and index finger. We validated the accuracy and repeatability of the glove and its capability to assist in grasping. Results from five nondisabled subjects indicated that the glove is accurate and repeatable for both static hand-open and -closed tasks when compared with goniometric measures and for dynamic reach-to-grasp tasks when compared with motion analysis measures. Results from five subjects with stroke showed that with the glove, they could open their hands but without it could not. We present a glove that is a low-cost solution for in vivo grasp measurement and assistance.

Author List

Nathan DE, Johnson MJ, McGuire JR


John R. McGuire MD Professor in the Physical Medicine and Rehabilitation department at Medical College of Wisconsin

MESH terms used to index this publication - Major topics in bold

Activities of Daily Living
Arthrometry, Articular
Combined Modality Therapy
Electric Stimulation Therapy
Equipment Design
Finger Joint
Hand Strength
Metacarpophalangeal Joint
Middle Aged
Self-Help Devices
Stroke Rehabilitation
Task Performance and Analysis