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We present the development of a cable-based passive forearm exoskeleton thatis designed to assist supination for hemiparetic stroke survivors. Our deviceuniquely provides torque sufficient for counteracting spasticity within abelow-elbow apparatus. The mechanism consists of a spiral single-tendon routingembedded in a rigid forearm brace and terminated at the hand and upper-forearm.A spool with an internal releasable-ratchet mechanism allows the user tomanually retract the tendon and rotate the hand to counteract involuntarypronation synergies due to stroke. We characterize the mechanism with benchtoptesting and five healthy subjects, and perform a preliminary assessment of theexoskeleton with a single chronic stroke subject having minimal supinationability. The mechanism can be integrated into an existing active hand-openingorthosis to enable supination support during grasping tasks, and also allowsfor a future actuated supination strategy.

Design of Spiral-Cable Forearm Exoskeleton to Assist Supination for Hemiparetic Stroke Subjects