Patients with haemiplegia have difficulty using their paralyzed arm in daily life and use their non-paralyzed upper limb daily. This makes it difficult for them to climb stairs or go up and down stairs while holding a handrail. It is also known that daily use of the paraplegic upper limb improves motor function from a rehabilitation perspective. For these reasons, this study focuses on the action of grasping to support the daily use of the paralyzed upper limb in hemiplegic patients and aims to develop an exoskeleton-type device that supports human grasping strength.
