A Design of Hand Rehabilitation Exoskeleton Mechanism Adapted to Different Finger Lengths

Stroke can cause the neurological function of the brain hemisphere or brain stem to be blocked, which in turn causes partial loss of function of the hands and feet. This paper presents a hand rehabilitation exoskeleton mechanism with an adjusted locking device to adapt to different finger lengths. The biological characteristics of the finger are analyzed to obtain the motion parameters of the finger. The presented mechanism is optimized for its rod length by the fgoalattain function optimization method. This is done for the exoskeleton mechanism could drive the finger to reach the ideal bending angle. A proof-of-concept plastic prototype was fabricated, and the experimental results demonstrates the potential of this mechanism.