Pneumatic Robot for Finger Rehabilitation After Stroke: A Pilot Validation on Short-Term Effectiveness Depending on FMA Score

Pneumatic soft robotic devices are emerging as promising tools for assisting hand rehabilitation in individuals with post-stroke motor impairment. However, evidence regarding their immediate functional impact remains limited, particularly across different impairment levels. This study presents a pilot validation of the YAD_V2 pneumatic finger rehabilitation robot and evaluates acute changes in finger range of motion (ROM) and task performance during a single intervention session. Twenty stroke participants were categorized into two groups based on the Fugl-Mayer Hand sub score: severe impairment (FMA-Hand < 10) and mild-to-moderate impairment (FMA-Hand ≥ 10). ROM was measured using integrated bending sensors during voluntary flexion–extension before, during, and after a 10-min pneumatic actuation session. A mixed 2 × 3 repeated-measure ANOVA revealed a significant Group × Time interaction (F(2, 36) = 4.628, p = 0.016, partial η2 = 0.205). In the severe group, ROM increased from 8.53° to 28.46° during actuation (p = 0.002), and partially returned to baseline afterward. In the mild–moderate group, no significant ROM changes were observed; however, cube-transfer time improved significantly (mean improvement: 0.88 s, p = 0.039). These findings indicate that pneumatic assistance induces distinct acute effects depending on impairment severity. This study provides preliminary evidence supporting the feasibility of the YAD_V2 robotic system and highlights the need for multi-session clinical trials to determine therapeutic efficacy.