Exoskeleton Design of an Intelligent Haptic Robotic Glove

Abstract

This paper is based on the results of a research project regarding the design and development of an Intelligent Haptic Robot-Glove (IHRG) for the rehabilitation of the patients that have a diagnosis of a cerebrovascular accident. The IHRG is an exoskeleton that supports the human hand and hand activities by using a control architecture for dexterous grasping and manipulation. The five-fingered assistive robotic glove is designed with mechanical compliance of human finger. The biomechanical elements of the exoskeleton assistive hand are designed considering: motion in different planes, adapted to patient's hand, possible to train pinch and grasp, opening/closing game. The actuation system is also studied and designed. The paper provides an overview of hand rehabilitation and evaluation techniques.