Research on a Novel Hand Exoskeleton Rehabilitation Training System

Stroke is one of the common causes of the limb dysfunction, particularly in the elderly. Hand dysfunction severely affects patients' daily activities, so making the recovery of hand function is crucial for improving their quality of life. This study aims to develop an hand exoskeleton based on the underactuated technology to assist in the hand rehabilitation training of stroke patients. A novel underactuated hand exoskeleton is designed by using push-rod motors and 3D-printed gear-rack transmission mechanisms. The exoskeleton can simulate the natural movement of the patients' fingers, simplifying the control system by reducing the number of actuating components, while enhancing the portability and adaptability of the hole system. The 3D model and motion analysis of the hand exoskeleton are established in SolidWorks to verify its kinematics characteristics. At the same time, ensure that it meets the needs of rehabilitation training. The prototype consists of the actuation module, the main control module, and the human-computer interaction module, pressure and bending sensors. These sensors can monitor and provide the feedback on the force and joint angles during training in real-time. Additionally, a human-computer interaction interface based on Bluetooth communication allows patients and therapists to conveniently control and monitor the system status. Experimental results indicate that the hand exoskeleton system can effectively assist patients in rehabilitation training, meeting the requirements for joint degrees of freedom and range of motion. The system's actuating force is sufficient to support the correction of hand joint movements. The hand exoskeleton developed in this study shows great potential in rehabilitation training, not only improving rehabilitation efficiency but also reducing the workload of therapists, providing more personalized and precise rehabilitation services for stroke patients.