KnitDema: Robotic Textile as Personalized Edema Mobilization Device

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 a mock fluid system. Finally, we conduct a case study to evaluate the feasibility of the device, in which five hand edema patients assess KnitDema. Our study provides insights into the opportunities for robotic textiles to support personalized rehabilitation.