Abstract
Upper limb paralysis can be caused by various diseases or traumas. Individuals with spinal cord injuries often suffer from tetraplegia, which significantly affects their quality of life and requires assistance from a caregiver. Functional electrical stimulation (FES) can restore some functionality to paralyzed upper limbs.Assistive technologies such as orthotic devices can also be used to improve functional abilities. This thesis focuses on the development of assistive orthoses for distal parts of upper limbs.A hybrid orthosis has been developed for the hand and wrist, consisting of a mechanical orthosis designed to work with an electrical stimulator. A simpler orthosis to assist key-grip has been developed following the Humanlabs approach.Experiments have been conducted with patients to test the usability and functional gain of these orthoses. Results are promising, but trials with a larger population would be necessary to infere.Experiments with individuals with paralysis highlighted the importance of pronation and supination in hand movements, especially for individuals with grip impairments. To design an assistive orthosis for these movements, a four-bar spherical mechanism has been developed, capable of producing an 80° rotation. By stacking two mechanisms, a 160° rotation can be achieved.Future research perspectives include the development of a modular system potentially coupled with FES to create a generic system adaptable to each individual.