Hand Rehabilitation Exoskeleton with Independent Finger Joint Actuation via Rotary Pushers and Wire Tension
This technology provides an exoskeleton structure that combines rotary pushers with sliding links and multiple wire tension mechanisms to achieve independent flexion/extension and abduction/adduction for each finger joint (MCP, PIP, DIP, CM, IP).
Conventional exoskeleton robots are limited to simple grasping motions due to restricted degrees of freedom and struggle with independent joint control, making it difficult to implement complex and precise hand movements.
This technology utilizes a rotary pusher motor to position a cam-shaped rotary pusher that applies pressure to the proximal phalanx attachment, while independently driving wires for each finger segment to enable flexion, extension, abduction, and adduction for every joint. Applicable to hand rehabilitation, wearable robotics, and physical therapy, it enhances rehabilitation efficacy by enabling precise hand movements through independent joint control.
Key Features:
- A third wire that passes through the upper side of the thumb distal phalanx attachment, the upper side of the thumb proximal phalanx attachment, the upper side of the thumb CM attachment, and the upper side of the palm attachment to generate thumb extension.
- A fourth wire that passes through the lower side of the thumb distal phalanx attachment, the lower side of the thumb proximal phalanx attachment, and the lower side of the thumb CM attachment to generate thumb flexion.
- An exoskeleton mechanism including a sixth wire fixed to the lower side of the thumb CM attachment and passing through the lower side of the palm attachment toward the ring finger to generate thumb abduction.
- A fifth wire fixed to the upper side of the thumb CM attachment and passing through the upper side of the palm attachment to generate thumb adduction.
