Wearable finger exoskeleton using flexible actuator for rehabilitation

This paper proposes a new design of a one actuated degree of freedom wearable finger exoskeleton for rehabilitation. The purpose of this device is to assist patients during their rehabilitation process, after neurological trauma such as a stroke. To increase the wearability and adaptability of this system, a flexible actuator, using wire mechanism, has been integrated. Moreover, 3D printers have been used to get a device as light as possible. Position and force control have been implemented. Some tests have been conducted to verify the wearability and the adaptability of the proposed system. Furthermore, measurements to get the range of motion of the rotational movement around the metacarpophalangeal joint, which is actuated, have been conducted. The maximum range of motion of this device is high enough to be considered for using it in rehabilitation process and small enough to ensure the safety of the patient. Moreover, position control and force control can be achieved in limited angular and force range.