A novel underactuated exoskeleton rehabilitation glove for hand flexion and extension training
Lei Zhao , Fenghe Guo , Fei Yang , Chao Li , Yufei Zhao , Jing Qu , Kun Li , Yan Liu , Lili Wang , Lingguo Bu
Biomimetic Intelligence and Robotics ›› 2025, Vol. 5 ›› Issue (4) : 100248
A novel underactuated exoskeleton rehabilitation glove for hand flexion and extension training
In recent years, the number of stroke patients worldwide has been steadily increasing, with approximately 70% of survivors experiencing upper limb dysfunction, particularly severe impairment of fine motor skills in the hand. This limitation significantly reduces patients’ ability to perform daily activities and increases the burden on both families and society. Existing hand rehabilitation exoskeletons suffer from issues such as complex structures, high production and usage costs, and limited application scenarios. This paper presents a flexible and portable hand rehabilitation robotic device based on the anatomical structure and movement characteristics of the human hand. First, a flexible exoskeleton glove based on underactuation is designed to accommodate various finger sizes. The portable device allows for rehabilitation in both hospital and home environments. Second, Adams simulation is used to verify the structural feasibility of the designed exoskeleton. Finally, device testing is performed on subjects to assess the assistive performance and motor dexterity of the hand exoskeleton using joint angle similarity tests, object grasping experiments, and force distribution tests. The experimental results show that the hand exoskeleton prototype can assist finger joints in achieving significant flexion and extension movements. Moreover, by adjusting the driving forces at each joint, it can stabilize the grasping of objects with different sizes, providing a high level of motion assistance in daily object grasping and finger joint movements. This study offers a practical and feasible technological path to reduce disability rates and improve the quality of life for patients with hand dysfunction following a stroke.
Exoskeleton / Underactuation / Hand function impairment / Performance evaluation
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