Design And Analysis Of A Hand Exoskeleton For Rehabilitation

There are a large number of disabled patients in China, which also shows an increasing trend. Medical statistical analysis indicates that most of the disabled can improve their life condition by rehabilitation devices. However, allocation rate of medical equipment can not meet the demand at present, especially for hand rehabilitation. Therefore, a novel device providing assistant motion for the hand disabled is designed to recover the movement capability of hand. The following content is included,First, human hand motion data has been collected by using data glove, to which principle component analysis has been processed. Then we got the characteristic movement rule of hand when grasping and revealed the correlation relationship between human fingers.Second, the finger driven structure has been designed and the optimization has been made to it. Another multi-output structure with fewer-input has been also designed to meet the demand of driven force of finger motion. Motion models in favor of function recovery are made according to the medical rehabilitation theory.Third, hand exoskeleton rehabilitation equipment that could show human hand motion principle has been developed, which can assist fingers of the disabled to move coordinately and adapt to different human hand size at the same time.Finally, verification has been made that the hand rehabilitation exoskeleton can reproduce the characteristics of a human hand, and it has the capability to execute grasping. Several objects in daily life has been chosen to conduct the experiment and verification has also been made that the device can work effectively and the design method is feasible.