A new model for rehabilitation training: a compliant driven hand exoskeleton design

Robot-assisted rehabilitation for limb dysfunction caused by stroke is one of the key research topics today. Some researchers have found that the structure and driving mode of the exoskeleton will produce physiological deviation during training. Therefore, this paper will explore a kind of mechanical exoskeleton with optimized structure and suitableness for the characteristics of the human hand. This paper analyzes and improves the function and composition of the exoskeleton by investigating the physiological structure and movements of human hands. Based on the DH parameters of the model and the relationship between mechanical geometry, the motion trajectory is simulated with MATLAB to verify its motional realizability. The simulation results show that the manipulator can safely realize the movement in line with the characteristics of the human hand, and its installation and alignment can adapt to different human hand sizes. The inverse dynamics analysis of the model with the Jacobin matrix will promote the design of dynamics and control functions of the model.