Deformable sensors for pressure and position assessment using time-domain reflectometry in motor rehabilitation

This work presents the design and preliminary experimental validation of deformable sensors based on time-domain reflectometry (TDR) for rehabilitation-oriented interaction monitoring. Three architectures were investigated: a planar multilayer sensor and two coaxial configurations based on foam and engineered TPU–Hilbert structures. Controlled indentation tests were performed at different positions and deformation levels, extracting two TDR-derived features: the minimum reflection coefficient (Formula presented.), related to deformation intensity, and the perturbation time (Formula presented.), related to contact localization. Preliminary calibration curves and two-dimensional maps were used to analyze the coupled dependence of the response on position and indentation depth. Application-oriented manual tests confirmed the different suitability of the three geometries for localized finger pressing, distributed two-hand grasping, and controlled single-hand squeezing. Overall, the results support TDR-based deformable sensors as low-complexity and geometry-adaptable tools for spatially resolved monitoring of motor rehabilitation interactions.