Analysis of Exoskeleton based on a Light Underactuated Hand

Abstract

The number of stroke patients is increasing year by year, and the demand for rehabilitation medical equipment is also increasing. The number of stroke patients is increasing year by year, and the demand for rehabilitation medical machinery is also increasing. The hand exoskeleton machinery plays an indispensable role in the rehabilitation process. In the treatment, the hand exoskeleton machinery equipment needs to be convenient, easy to air, lightweight, and meet the needs of human hands. Robhand meets these requirements in design, but the rotation range of MCP joint and PIP joint of index finger can’t meet the needs of treatment. In this paper, the vector equations of the two loops are obtained through the kinematic modeling of Robhand and the kinematic analysis, and then the numerical solution is obtained by the numerical solution of MATLAB, that is, the Rotation angle of the mechanism φ Rotation angle with MCP joint αand PIP joint β.