A comparative study of flexible and rigid hand-oriented exoskeleton robots

Abstract

The purpose of this paper is to compare and evaluate the performance differences between flexible and rigid hand exoskeletons in terms of functional recovery and assistance in daily activities.Flexible hand exoskeletons are lightweight and soft devices with stretchable materials and flexible mechanisms designed to mimic the flexibility and versatility of natural hand movements.They typically consist of elastic materials, sensors and actuators that enable natural hand movements and provide light strength support.The main advantages of flexible hand exoskeletons are their comfort and flexibility, and their ability to provide personalized assistance for a variety of daily activities and tasks.This form of design is suitable for patients who require mild hand support and dexterity, such as individuals with mildly impaired hand motor function or who need to perform fine motor movements. In contrast, a rigid hand exoskeleton is a more rigid and stable device that uses robust materials and a rigid mechanism designed to provide a greater degree of strength support and stability.They are typically constructed of metal or composite materials, have a high degree of rigidity and stability, and provide strength support through electrical motors or hydraulic systems.The main advantage of a rigid hand exoskeleton is its higher force output and stability for tasks that require higher loads or complex movements.This form of design is suitable for patients who require greater strength support and stability, such as individuals with reduced hand muscle strength or who need to carry heavy loads