Design and Prototyping of a Hand Exoskeleton for Finger Rehabilitation by Driving Distal Phalanx
摘要
Finger rehabilitation is crucial for recovery after a stroke. This study introduces a hand exoskeleton actuating on the distal phalanx of the finger. It enables flexion/extension and abduction/adduction movements for finger rehabilitation. This paper details the design process of the proposed hand exoskeleton including the mechanism design and kinematic analysis. Based on the optimized position of the actuating point, the parameters of the proposed mechanism were determined, and the prototype was fabricated accordingly. The motion ranges of the hand exoskeleton were partly confirmed with experiments.