Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes

摘要: A wearable hand exoskeleton (EXO) device that permits exertion of bidirectional forces on finger phalanges throughout the human workspace is proposed. The novelty proposed lies in its direct-driven, portable and optimised mechanism with ability to adjust variable sizes addition other distinguishing features. adjustable link lengths structure have emerged from kinematic-based optimisation criterion, which targets natural workspace. selection actuators for EXO backed by results experiments conducted using appropriate sensory instrumentation measure force levels a hand. four-fingered prototype designed fabricated. then subjected various test inputs characterise tracking performance. Preliminary demonstrate can flex extend fingers following accurate trajectories.