Design, modeling and analysis of a novel index finger exoskeleton for stroke rehabilitation

Abstract

Inpatient rehabilitation The rehabilitation of hand function in stroke patients is greatly aided by exoskeleton robots, which have become a new focus of research. However, there are still many defects in the existing research, for example, the Exoskeleton model is fixed and needs to be customized. The purpose of this study is to design and model an adjustable size Exoskeleton robot for hand rehabilitation of stroke patients. Hand dysfunction after stroke has a serious impact on the quality of life and daily activity ability of patients, so effective rehabilitation measures are crucial. As an innovative rehabilitation tool, Exoskeleton robot has the potential to assist movement and provide strength support. Through the biomechanical modeling of the hand and the exploration of the design principle of the Exoskeleton robot, this research proposes a design scheme that meets the requirements of functionality, safety and comfort. In the design process, we modeled the Kinematics of the exoskeleton robot based on the principles of hand biomechanics modeling. By establishing a simulation model, we verified the effectiveness and stability of the design. In conclusion, this study designed and modeled a Exoskeleton robot for hand rehabilitation of stroke patients. Through simulation and experimental verification, we proved the potential of the Exoskeleton robot in providing force support, Restoration Movement function and adapting to different hand sizes. This study provides a new tool for hand rehabilitation in stroke patients and provides reference for future design and improvement.