# A Novel Soft Robotic Exoskeleton System for Hand Rehabilitation and Assistance Purposes
## 3 Results and Discussion
### Experimental Procedure and Validation
\begin{table}
\begin{tabular}{l c c c c c c c c c c} \hline \hline  & \multicolumn{6}{c}{**Likert Scale (1–Strongly Disagree to**} \\  & \multicolumn{6}{c}{**5–Strongly Agree)**} \\ \cline{3-11}  & \multicolumn{6}{c}{**Control Group and Patients)**} & \multicolumn{6}{c}{**Patients**} \\ \cline{3-11}  & **1** & **2** & **3** & **4** & **5** & **1** & **2** & **3** & **4** & **5** \\ \hline Q101 & The use of the device is simple & - & - & 4 & 13 & 8 & - & 1 & - & 2 & 2 \\ Q102 & The use of the device is comfortable & - & - & 2 & 16 & 7 & - & - & 1 & 2 & 2 \\ Q103 & It was easy to learn how to operate the device & - & - & 4 & 15 & 3 & - & - & 1 & 3 & 1 \\ Q104 & I am familiar with the rehabilitation technologies & 2 & 4 & 4 & 12 & 3 & - & - & 2 & 2 & 1 \\ Q105 & The device can be integrated into the rehabilitation schedule & - & - & - & 13 & 12 & - & - & 1 & 3 & 1 \\ Q106 & The device’s user interface is user-friendly & - & 2 & 4 & 10 & 9 & - & 1 & 1 & 3 & - \\ Q107 & The device can offer appropriate movement capability & - & 2 & 3 & 13 & 7 & - & - & 2 & 2 & 1 \\ Q108 & I feel safe while using the device & - & - & - & 6 & 19 & - & - & 1 & 1 & 3 \\ Q109 & I feel that the SEG produces sufficient force & - & - & 4 & 5 & 16 & - & - & - & 4 & 1 \\ Q110 & The device is lightweight & - & - & - & 4 & 21 & - & - & - & 4 & 1 \\ Q111 & The visualized data help and guide the procedure & 5 & 5 & 7 & 8 & - & 1 & 1 & 1 & 2 & - \\ Q112 & The presentation of data on the GUI is clear & - & 4 & 13 & 4 & 4 & - & 2 & 1 & 2 & - \\ Q113 & The device has all the expected functionalities & - & 4 & 4 & 15 & 2 & - & - & 2 & 2 & 1 \\ Q114 & The use of the device is easily learned & - & 3 & 4 & 15 & 3 & - & - & 1 & 3 & 1 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: The questions of the first questionnaire and the distribution of answers per question. statement. Finally, the vast majority of the participants (almost 97%) felt safe while using the device. The second questionnaire was answered by five of the healthy participants who were professional experts from the rehabilitation domain and was dedicated to the evaluation of the device from a more technical aspect. For the majority of the questions, the participants gave positive feedback. More specifically, four of five participants stated that the user had full control of the device during the procedure. Furthermore, all participants agreed that during the session, the motion data were clearly visualized and could be easily used for the development of a reliable library for each patient's data session. In addition, all the professional experts admitted that the device could contribute to the rehabilitation process. Only about the statement regarding the ease of exporting data in editable format 40% of them did not agree. In general, the results of the questionnaires showed that the majority of participants were satisfied with the usage of the device, as it is simple and easy to learn how it operates, and highlighted the high functionality and reliability of the SEG device. Moreover, the software platform of the device was evaluated by the users as user-friendly and easy to operate. Nevertheless, the questionnaires also showed the weak aspects of the overall product that could be improved in future versions, such as the visualization of the data, especially for non-professional users.