## 3 Results
### Rehabilitation/Assistance Training Using the Wearable Device  
Rehabilitating stroke patients' hands to regain mobility and the ability to perform daily activities involves rehabilitation training based on repeated flexion/extension movements of the hands. Our tests were performed on healthy subjects who have residual EMG signals on the forearm muscles, being able to easily implement EMG signal-based control with high signal amplitudes. In patients who have suffered strokes or other neurological diseases, the residual EMG signals in the forearm area are relatively low, making it difficult to capture and process the signal, in which case there is the possibility of positioning the EMG electrodes on the biceps muscle area as it has a higher density of muscle fibers and therefore higher signal amplitudes for control. Based on this, it was decided to perform rehabilitation training consisting of several sets of flexion/extension finger movements with an amplitude of approximately 120\({}^{\circ}\). Prior to the start of the rehabilitation training, gel surface electrodes are placed on the patient's FDS muscle of the forearm corresponding to flexion/extension finger movements. The surface is degreased beforehand, and the analog value from which the actuator pressurization will start is determined based on the patient's varying signal. Actuator pressurization is raised up to a value of 0.06 MPa and a movement amplitude of approximately 120\({}^{\circ}\), monitored by the flex sensor. All of these data are displayed in real time together with the number of repetitions performed by the patient on the display of the control unit. Closed-loop control provides good and efficient controllability of the wearable device for flexion/extension finger movement training. Once the analog value is set (EMG signals) according to the patient, the wearable device is positioned on the patient's hand so that it grants comfort. After positioning the device, the rehabilitation training may stop when the set analog value of the EMG signal is exceeded.  
Regarding the use of the wearable device for hands-on assistance in everyday activities, a series of tests were conducted on different objects to identify the potential of such a device. The two cases of rehabilitation and assistance share some similarities in this case, namely from the perspective of the movements performed by the patient (flexion/extension), therefore the testing of the device in the cases of assistance on different objects with different geometries was approached. The tests can be identified below in Figure 12.  
Several objects with different geometries were tested, representing items that are more commonly found in a home and with which patients are most likely to interact. These objects also have different masses, namely a plastic cup (42 g) in Figure 12a, a water bottle (280 g) in Figure 12b, a ball (17 g) in Figure 12c, and a cylindrical piece (110 g) in Figure 12d.  
Figure 12: Experimental tests performed with the wearable device on a set of objects with various geometries and weights commonly encountered in everyday life. (**a**) Glass, (**b**) Water bottle, (**c**) Ball, (**d**) Cylindrical object.  
To grip these objects, all five fingers were pressurized with a lower amount of pressure than in the rehabilitation case. From the tests performed, the device offers sufficient flexibility, but the limiting aspects are related to the control unit, which allows a reduced working space due to the length of the actuator cable, with this being an important future direction.