Structure and Design of A Rigid-Elastic Hybrid Finger Exoskeleton for Stroke Rehabilitation

Rehabilitation needs for stroke patients with motor impairment have garnered great attention worldwide. Addressing the limitations observed in existing hand rehabilitation devices, particularly in aspects like Finger Precision, Fine Motor Coordination, and Isolated Finger Movement, as well as mitigating the risk of accidental pain and injury caused by the exoskeleton itself, a novel hybrid finger exoskeleton rehabilitation system supporting the index finger and thumb has been designed and implemented. Its advantages include precise control of each finger joint, more Degree of Freedom (DOF) and Range of Motion (ROM) movements, pain and injury protection, a user-friendly interface, cheaper, and lighter. Noteworthy features include an optimal Multi-bar Serial Linkage with a compact Z-shape structure and specialized palm components to reduce size, and elastic elements to alleviate excess force. The hybrid materials used offer advantages from both rigid and elastic components. The 3D-printed exoskeleton structure, inclusive of 6 motors, weighs only 290g. Experimental results demonstrate the achievement of all 7 degrees of freedom (DOF) and precise control on each joint and phalanx during rehabilitation training.