Abstract

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes.

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