Wearable Finger Rehabilitation Glove for Mobility Recovery Using a Servo-Driven Cable Mechanism and Multimodal Sensing

Abstract

Continuous Passive Motion (CPM) therapy is widely recognized as an effective method for restoring finger mobility following neurological or musculoskeletal impairments. This paper presents the design, development, and evaluation of a low-cost, wearable CPM rehabilitation glove intended for finger mobility recovery. The proposed system employs a servo-motor-driven cable mechanism integrated into a lightweight fabric glove to assist controlled flexion and extension of individual fingers. Multimodal sensing using flex sensors, force-sensitive resistors (FSR402), and vision-based tracking via an ESP32-CAM module enables real-time monitoring of finger kinematics and applied forces. A Python-based control and visualization platform allows therapists to configure personalized rehabilitation protocols, monitor progress across sessions, and store quantitative performance data. Experimental validation demonstrates smooth, repeatable finger motion, reliable sensor acquisition, and effective visualization of rehabilitation progress. The developed system offers a safe, portable, and affordable solution suitable for both clinical and home-based rehabilitation environments.