Exoskeletal Development of a Hand Complex for Rehabilitation Activities

Hand exoskeletons are becoming inevitable in the journey of rehabilitation robotics. The practical considerations of human interactions are always constraining the developments in hand exoskeletons. In this paper, the design, kinematic modeling, and static structural analysis are carried out to synthesis the mechanism for a hand exoskeleton. The minimum grasping capacity for the index finger is analyzed and found to be in the range of the literature. This paper also finally presents the prototype fabrication of a lightweight and robust hand exoskeleton.