Design of a Wearable Direct-driven Optimized Hand Exoskeleton Device

摘要

Abstract—This work introduces a hand exoskeleton that allows full range of motion and can exert bi-directional forces on the finger phalanges. The link lengths and structure of the proposed mechanism have been emerged as a result of kinematics-based optimization criteria. It is an under-actuated mechanism allowing 4 DOF/finger with one active degree. The selection of the actuator has been based on human hand capabilities to accomplish common daily life activities. An initial un-actuated finger prototype has been developed to analyze the mechanism functionality and to confirm the optimization results. Results have demonstrated that the device covers the complete operational range of motion of a human hand. Keywords-Hand exoskeleton System, Wearable robotics, Haptic device, Optimized robotic mechanism. I.