Optimum mechanism for rehabilitation of fingers
Yekta, R. - Zohoor, H. - Shirzadi, H
Nowadays, with the advancement of technology, humans are looking for ways to cure various diseases. Meanwhile, musculoskeletal injuries usually have a long treatment period. Therefore, in recent years, Researchers working one exoskeleton with rehabilitation application which conduct physiotherapy tasks. In current study, a portable two degree of freedom hand exoskeleton is designed which its mechanism is a combination of cable and link mechanism, MCP1 1Metacarpophalangeal joint between metacarpal and proximal phalanges joints move by link mechanism, DIP2 2Distal interphalangeal joint between proximal phalanges and middle phalanges and PIP3 3Proximal interphalangeal joint between middle phalanges and distal phalanges joints move by cable mechanism and Pronation movement is considered for thumb. Link mechanisms are designed by optimization method, by comparing the optimization results of different mechanisms. The 4-bar mechanism is the best choice which its maximum error equal to 3.95 degrees. © 2017 IEEE.