Kinematic Model of a New Soft-Rigid Hybrid Robotic Hand Exoskeleton

Robotic augmentation of the human body is a trending topic that presents numerous benefits to mankind but also comes together with numerous technical challenges. This work details the research conducted in the development of a kinematic model for a hybrid soft-rigid robotic hand exoskeleton to match the biomechanical system of the hand exoskeleton. The exoskeleton is designed to seamlessly and ergonomically interface with the hands of stroke patients who require motor and dexterity rehabilitation. This model is applicable for position estimation and complex finger control. The research is based on a comprehensive overview of the current developments in the field.