Optimized Child-Centered Textile Design for a Soft Robotic Glove in Pediatric Rehabilitation

Cerebral palsy, a neurological condition that can affect the mobility and coordination of the upper limbs, presents challenges for the design of functional, comfortable, and emotionally acceptable rehabilitation devices to enhance therapeutic adherence in children. This study presents the development and optimization of a soft robotic glove specifically designed for the rehabilitation of children with cerebral palsy, integrating ergonomics, functionality, and esthetics. The multilayer design of the glove prioritizes ergonomics through the use of three spandex materials: Dry Spandex, Fluity, and Lenatex, selected for their flexibility and anatomical fit. Mechanical tests conducted according to the American Society of Testing and Materials (ASTM) 4964-96 standards evaluated the behavior of the spandexes after three usage cycles. Dry Spandex, which was used in the inner layer, showed an average tension decay of 4%, which is notable for its high elasticity and uniform tension decay at low elongations. The outer layer of Fluity exhibited a higher tension decay of up to 7.7% but provided a balance between comfort and adequate initial support for electronic and pneumatic components. Lenatex, the most rigid spandex with the lowest variance (0.8), was used in the wristband, providing a uniform and predictable mechanical response. Additionally, a usability survey with children revealed positive perceptions of the glove’s esthetics, instructions, and overall experience, highlighting areas for improvement. The findings related to technical and emotional features support the design’s potential to achieve a balance between comfort and usability, providing insight for future applications of soft robotics in child-centered designs.