An overview about hand exoskeleton actuation system and thumb motions analysis

Abstract. Stroke patients experience impaired hand function which significantly impacts their daily activities. Robot-assisted training is essential for restoring motor function, with hand exoskeletons serving as assistive devices to support, amplify, replace, or counteract body movements. Designing an exoskeleton that accurately mimics the natural movement of the thumb and provides adequate support is a key challenge in rehabilitation. This paper designs a retrieval model for hand rehabilitation exoskeletons from 2009 to 2023, analyzing the hand anatomy and thumb motion range. It discusses various driving mechanisms for hand exoskeletons, including cable, linkage, pneumatic, gear motor, and hybrid systems. While progress has been made in experimental stages, more research is needed for clinical applications. A universal hand exoskeleton actuation system that meets all patient preferences does not exist. Ongoing research on hybrid drive systems aims to enhance hand exoskeletons for better rehabilitation and daily use for patients with hand dysfunction.