REHABit
— Deep Dive.
A wearable mechatronic glove for post-stroke hand rehabilitation. Designed, printed, and programmed from scratch. Here's how it works.
After consulting with a hospital department head, I identified a gap: passive rehabilitation devices don't adapt to the patient's current muscle state. REHABit closes that loop — flex sensors read finger position, the ESP32 runs a control algorithm, and servo motors assist or resist movement based on realtime data.
The goal was a device that could be manufactured for under €80 and used without clinical supervision.
Servo Array,
Flex Sensors.
An ESP32 microcontroller sits at the centre, reading five flex sensors and driving five micro servo motors — one per finger. The firmware runs a PID-style loop that maps sensor readings to a target angle and smoothly closes the gap in real-time.
All electronics are housed in a 3D-printed PETG enclosure designed for tool-free access and field serviceability.
Fusion 360,
Printed in PETG.
Every structural component was modelled parametrically in Fusion 360 — tolerances set for FDM printing, assembly constraints driving the joint geometry. The knuckle joints use a living hinge design that survived 3,000+ cycles of testing without delamination.
Sliced in PrusaSlicer with custom supports and 40% gyroid infill for the load-bearing chassis sections.