The Modeling and Design of An Index Finger Rehabilitation Exoskeleton with High Suitability

Abstract

With the increasing demand of hand rehabilitation training, people pay more attention to the hand exoskeleton machine. In contrast to this growing demand, most exoskeletons have a weak adaptability, meaning that almost every exoskeleton is tailored to the patient's individual hand data. Through calculation, modeling, and simulation experiments, this paper aims to add additional sensors to the MCP and PIP joints to obtain more accurate data, and further increase joint mobility, flexibility, and adaptability based on the adjustable pulley to achieve better rehabilitation results and lower cost. Based on the existing underactuated exoskeleton, this work has added sensors, sliding contact modules and retractable link rods at the nodes between the MCP and PIP joints to improve the accuracy and adaptability of the exoskeleton.