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KnitDema: Robotic Textile as Personalized Edema Mobilization Device

    Jin Hee (Heather) Kim, Joan Stilling, Michael O’Dell, Cindy Hsin-Liu Kao
    ACM Human Factors in Computing Systems (CHI) 2023

    Keywords: Robotic Textile, Rehabilitation, Co-Design, Wearable Device
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    Introduction

    Hand edema, defined as swelling of the hands caused by excess fluid accumulation, is a pervasive condition affecting a person’s range of motion and functional ability. However, treatment strategies remain limited to time-consuming manual massage by trained therapists, deterring a widely accessible approach.

    We present KnitDema, a robotic textile device that allows sequential compression from distal to proximal finger phalanges for mobilizing edema. We machine-knit the device and integrate small-scale actuators to envelop granular body locations such as fingers, catering to the shape of the hand. In addition, the device affords customizable compression levels through the enclosed fiber-like actuators. We characterize compression parameters and simulate the shunting of edema through an amock fluid system. Finally, we conducted a case study to evaluate the feasibility of the device, in which five hand edema patients assessKnitDema. Our study provides insights into the opportunities for textile-like robots to support personalized rehabilitation.

    KnitDema consists of machine-knitted semi-glove and hardware to compress edematous hands sequentially. The device covers the index finger and uses embedded shape memory alloy (SMA) bands to mobilize edema fluid from the fingertip to the base.

    (a) KnitDema system in which the finger sleeve is knit with a combination of (i) tubular jacquard, (ii) shaping, and (iii) interlock structure. The tubular structure creates “channels” to incorporate SMA springs. The substrate also uses a shaping structure to conform the substrate to the rest of the fingers. (b) KnitDema finger sleeve device worn on a hand. (c) Future implementation of a full-hand KnitDema device.

    KnitDema utilizes embedded shape memory alloy (SMA) bands to mobilize edema fluid from the fingertip to the base (from 1 to 6). The springs are enclosed within the fabric substrate.

    Photographs of a participant’s hand before (a),  after (b), and during the intervention (c). Marks from intervention indicate that the pressure is palpable, and the device fits the finger snuggly.

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