Abstract
This research work shows a new architecture of a novel wearable finger exoskeleton for rehabilitation; the proposed design consists of a one degree of freedom mechanism that generates the flexion and extension movement for the proximal, medial and distal phalange of the fingers to assist patients during the rehabilitation process, after neurological trauma, such as a stroke. The anatomy and anthropometric measures for the hand were used to define the design of the mechanism. In the analytic part, the representative equations for the forward and inverse kinematic analysis of the fingers are obtained, also a dynamic analysis is presented. The position and displacement continued for the structural analysis, were developed by following a static analysis, to know the deformation that the structure links show when an external load is applied in the mechanism. As result, a prototype was manufactured with acrylonitrile butadiene styrene (ABS) using an additive manufacturing machine.
Highlights
Many robotic systems intended for hand rehabilitation have been reported in the literature, where two different hand exoskeleton systems exist: singlephalanx devices, in which the robot exerts forces to the hand only at the fingertips, and multi-phalanx ones, where the device can directly control each phalanx of the hand
The prototype was based on the anthropometric measurements of a finger, as well as the movement ranges of the joints (MCP, proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints)
The analysis presented a challenge since the mechanism configuration meant that obtaining the position equations of the main elements had considerable complexity
Summary
Due to technological advances, robotics are present in different places, such as hospitals, factories, schools, and houses [1]. One of the areas where robotics has a large presence is in healthcare, where its applications are focused on rehabilitation, helping people with disease or disability to perform daily activities, or provide therapies to improve physical or cognitive functions [1]. There are several diseases, which affect physical functions of the human hand, generating limitations in performing activities like grasping objects or opening a tin or a bottle of water. Many robotic systems intended for hand rehabilitation have been reported in the literature, where two different hand exoskeleton systems exist: singlephalanx devices, in which the robot exerts forces to the hand only at the fingertips, and multi-phalanx ones, where the device can directly control each phalanx of the hand
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
