Kinematic Modeling and Simulation of Hand Muscle Strength Rehabilitation Using Intelligent Pneumatic Mechanisms

Abstract The human hand, with its complex biomechanical structure, requires precise mechanical modelling for effective rehabilitation solutions. The proposed system integrates a therapeutic glove with individual pneumatic chambers for each finger, a force-sensing resistor for measuring grip strength, and a control unit based on Arduino Due. The mechanical model follows the Modified Denavit-Hartenberg (MDH) convention, describing finger joints as a multi-degree-of-freedom system. By utilizing pneumatic components, the device ensures smooth and adjustable joint mobilization, simulating the natural movement of the hand. The dynamic model, derived using the Euler-Lagrange equations, accounts for kinetic interactions and potential energy, allowing for a precise estimation of muscle strength. Experimental validation demonstrates the efficacy of the glove in restoring joint angles and muscle strength. The proposed method confirms that the developed system provides an efficient mechanical framework for adaptive rehabilitation, offering real-time feedback for therapeutic optimization.