• BTS
• guanto
• Matlab
• sensori
• Simulink
• V-Realm Builder

The purpose of this thesis work is to improve rehabilitation technics about upper limb by using a sensing glove to follow the progress of patients.
So for this reason the intent of this thesis is to study hand movement and to create a hand model based on 15 degree of freedom in which we can find both flexion-extension and adduction-abduction of fingers.
To study hand movement we have used KPF sensors put on a glove in Lycra and to make a 3D model we have used the virtual world V-Realm Builder. To interact with the 3D model we have worked in Matlab and Simulink.
It was also important the use of an optical system to follow the movement of hand during grasping.
The result that we obtain is a good reconstruction of hand grasping with a real-time model made in Simulink.