A numerical hand model for a virtual glove rehabilitation system

Hand rehabilitation, following stroke or hand surgery, is a repetitive and long duration therapy that can be facilitated with the assistance of gloves based on sensors. These devices can be substituted by a simple and inexpensive system based on the images acquired by 4 cameras and numerical analysis. In this paper we present a numerical hand model used in this system which describes the kinematic of the hand. Preliminary experimental data to test the proposed model have also been reported.